combining a png and a video file with ffmpeg without re-encoding - bash

Question

I'm trying to create a oneline for ffmpeg where I have:
original a/v recording in h264/mkv from which I need part of recording
png image as title card
I want to create a 5 second silent title before a part of video starts, possible in one ffmpeg line and codec-copy for the video.
Things I tried so far:
generate an mp4 from png with silence as audio track (needed by concating later):
ffmpeg -f lavfi \
-i anullsrc=channel_layout=stereo:sample_rate=44100 \
-loop 1 \
-i TITLE1080.png \
-s hd1080 \
-vf "fps=25,format=yuv420p" \
-c:a aac \
-t 5 \
TITLE1080.mp4
Cutting out a relevant portion from the video in mkv container (copy video in h264) and reenconcoding audio to aac:
ffmpeg -i VIDEO.mkv \
-ss 01:12:21 \
-to 02:12:40 \
-c:v copy \
-b:a 320k \
-avoid_negative_ts 1 \
OUTPUT.mp4
Concatenating the two h264/mp4 files via filelist1.txt file:
file '/path/to/TITLE1080.mp4'
file '/path/to/OUTPUT.mp4'
and then:
ffmpeg -f concat \
-safe 0 \
-segment_time_metadata 1 \
-i filelist1.txt \
-c copy \
-r 30 \
FINAL.mp4
The result has audio that seemingly drifts out of sync like it runs slightly faster so it finishes before and that after an hour there's silence for cca 5 minutes while the video still runs.
Re-encoding fixes all those problems but I would like to work with -c copy but rebuild the timestamps and ensure av sync.
How to make av sync correct and is it possible to have a one-liner ffmpeg command in bash/shell on linux?
here's ffprobe for both video files:
Input #0, mov,mp4,m4a,3gp,3g2,mj2, from 'TITLE1080.mp4':
Metadata:
major_brand : isom
minor_version : 512
compatible_brands: isomiso2avc1mp41
encoder : Lavf58.29.100
Duration: 00:00:05.02, start: 0.000000, bitrate: 79 kb/s
Stream #0:0(und): Video: h264 (High) (avc1 / 0x31637661), yuv420p, 1920x1080 [SAR 1:1 DAR 16:9], 67 kb/s, 30 fps, 30 tbr, 15360 tbn, 60 tbc (default)
Metadata:
handler_name : VideoHandler
Stream #0:1(und): Audio: aac (LC) (mp4a / 0x6134706D), 44100 Hz, stereo, fltp, 2 kb/s (default)
Metadata:
handler_name : SoundHandler
Input #0, mov,mp4,m4a,3gp,3g2,mj2, from 'OUTPUT.mp4':
Metadata:
major_brand : isom
minor_version : 512
compatible_brands: isomiso2avc1mp41
encoder : Lavf58.29.100
Duration: 00:42:56.67, start: 0.000000, bitrate: 5334 kb/s
Stream #0:0(und): Video: h264 (High) (avc1 / 0x31637661), yuv420p(tv, bt709), 1920x1080 [SAR 1:1 DAR 16:9], 5002 kb/s, 30 fps, 30 tbr, 16k tbn, 60 tbc (default)
Metadata:
handler_name : VideoHandler
Stream #0:1(und): Audio: aac (LC) (mp4a / 0x6134706D), 44100 Hz, stereo, fltp, 322 kb/s (default)
Metadata:
handler_name : SoundHandler