How can i add audio at specific Frame in FFmpeg?

I have audio that i am adding (without Re-encode) in mute video file, in starting i have intro which has no sound and i want to add audio file after that time/frame , after searching so hard i only found this command useful, ffmpeg -y -i file.mp4 -itsoffset 00:00:05 - i file.wav -map 0:0 -map 1:0 -c:v copy -preset ultrafast -async 1 out.mp4

it does the job but the problem is , its not precise , it is kind of mismatch because audio is supposed to be starting at 4.840 seconds & i cannot do it with this command, i want audio to be inserted at Fixed Frame, please suggest me any command to resolve issue :(

Thanks

I tried on Mkvtoolnix,Reddit, various command site etc .