New answers tagged video
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There are tools to do this kind of syncing in video editors. I am currently learning to use a free editor (not free source code though), Davinci Resolve. If you search for Multicam sync you will find alternative solutions (the tools allows you to select to sync on audio).
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If you don't start with timecode, or even a 2-pop or clapper, I can't see any other way than lining it up by eye; finding a common beginning… then hoping they stay approximately in sync.
I've never tried this in Audacity, but in any regular DAW or video suite you can just drag one track against the other roughly by eye, then keep increasing zoom & ...
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