Code has taken from following answer: FFmpeg - Overlay one video onto another video? and then little bit modified.
ffmpeg -i stream1.mp4 -i stream2.mp4 \
-filter_complex "[1:v]setpts=PTS+5/TB[a]; \
[0:v][a]overlay=enable=gte(t\,5):shortest=1[out]; \
[0][1]amix[a]" \
-map [out] -map [a] \
-c:v libx264 -crf 18 -pix_fmt yuv420p \
-y output.mp4
stream1.mp4 duration, eg: 35 seconds and stream2.mp4 duration, eg: 30 seconds. I want to start overlay (stream2.mp4) video+audio after 5 seconds. Overlay (stream2.mp4) video starts as expected.
But overlay (stream2.mp4) audio starts from beginning. How do I start overlay (stream2.mp4) audio after 5 seconds also?