H.264 video packet duration missing
I don't have a sample of your file so I don't know if this fixes it or not, but have you tried a simple remux?

ffmpeg -y -i h264_file.ts -c copy remuxed.ts


This is also basically the same thing, but helpful if you want video and audio in separate files before you remux:

ffmpeg -y -i h264_file.ts -map 0:0 -c:v copy -muxdelay 0 video.ts -map 0:1 -c:a copy -muxdelay 0 audio.ts
ffmpeg -y -copyts -i video.ts -i audio.ts -c copy remuxed.ts


You could also try reencoding audio but copying video.  Encoding audio but copying video will be fast and usually concerns about reencoding loss is a lot less significant with audio.  (Use audio synchronization, see -async in documentation.)