FWIW
When I do the test and use an external apreggiator (not synced by Cubase), to input the MIDI data (to avoid human correction) the outcome is the same as the video. MIDI roughly between 700 - 800 (yes it variates) samples (800 / 44.1 = 18 ms) earlier then audio on a 120BPM project with an ASIO buffer size of 512.