Audio & Video length have to match?

On a DVD Studio Pro timeline does the length of the audio stream(s) have to match the length of the video stream? I burned a DVD that had an audio stream that was a couple of seconds longer than the video stream and it failed to jump back to the main menu (as authored). It could have just been as a result of my cheap DVD player. Not sure.

Well, it's a good idea for a professionally authored DVD. If you export a Quicktime file from FCP and use Compressor to output MPEG-2 and .ac3 Dolby, the files always come out the same length for perfect sync.