A difficult one. Are you saying that you lose sync between the two tracks on the Tascam? or is it a loss of overall sync when you upload it to youtube?
I have heard of videos losing sync during the youtube conversion but haven't heard of any solution. In my experience Youtube has only lost sync once, on stereo stuff, so maybe you should just make it mono?

I looked at your video and, in my opinion you should re-record it anyway. Put the camcorder where you're looking towards it ( when you're on the hi-hat we only see the back of you) and add a bit of light. It'll improve the impression you make no end!