Ok. I just fixed it, here's how I fixed it.
This was a very strange solution, so I decided to turn off microphone access. (for voice) When I got back to GTA 5, The keys synced so well with the game. I just turned it back on to make sure it was that. And when I did, the game lagged, and the keys did not sync with the game. I was now sure that it was that and I quickly turned it off. I now can play the game with a little sacrifice of not allowing the microphone.