Rip in IFO mode in DVD Decrypter. Should give each episode in separate file.
Use "VOB Edit" (name of software) to demux audio and video, do each demux stream separately. Commercial releases have a LOT of stuff in the streams, this is your problem.
Then remux (if needed, probably not) in TMPGENC (file -> MPEG tools) and then edit in VideoReDo, if needed. Again, probably skip all this.
Import a/v files into authoring software, re-author with new menus, add chapters as wanted.
Done.
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