If you don't want to struggle with experimenting, +0.050 V would already be enough. If this runs stable, you could then try to find a lower setting that works. I think there is a good chance that +0.000 V will also work fine.
There's also another setting that does something to voltage called "load line calibration" = "LLC". When overclocking with offset voltage, you typically want to put LLC for core voltage to something like 50%. How it's exactly named for ASUS, I don't know. On other boards, I have seen settings like "level 1, level 2, level 3, etc." and "standard, low, medium, high, turbo". You would choose whatever seems like it is in the middle.
If you set LLC like mentioned, it is very likely that your CPU will run stable with +0.000V offset. My CPU starts to need some offset voltage at 4.3GHz. The +0.200V you used in your screenshot, my CPU needs that for 4.7GHz.