What comes to my mind first for this task are all of the DVD CDTs (Compressed Domain Transcoders). These include DVD Shrink, Nero Recode (uses the DVD Shrink engine) and Rejig. Just make sure to not use compression.
The other method which I prefer is to use MakeMKV. The resulting episodes and extras will be in an MKV container, but there is no reencoding involved. And IMO reusing such MKVs later is much easier than using VIDEO_TS folders or VOBs.
Cheers
manolito
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