auplabels file.aup will generate a somewhat sparse file of track offsets:
You’ll want to edit this to add track names (there should be a tab between the first column and the title):
0.00000000 Battle of the Blues
191.57333333 I Quit My Job
376.08000000 Ain't Goin' My Way
550.76000000 Wake Up Hill
If you use File -> Import… -> Labels… to import this into your project, the label track should exactly align with your track splits.
(Of course, this should really be an XML application since Audacity AUP files are XML, but issues were had.)