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This all depends on the authoring program. Elementary streams must be multiplexed, and many freeware authoring programs do not do a good job of this. Program streams should be demuxed and remuxed on the fly, but several programs use the streams as is adding NAV packs as required. The results of this depend on the original multiplexer, and if it was DVD compliant.
Multitasking should not affect the authoring process, the results should be identical regardless of the mix of programs running on the PC. If not, I'd suggest using a different program.
Burning, though, as Paulcat mentioned, is sensitive to PC load as it is a real time operation. A missed or delayed interrupt from the drive can wreak havoc.
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