Help with combining existing DVDs

This is not about ripping copy protected DVDs. I have several DVDs, not copy-protected, that I own the copyright for, provided by a third party, so I do not have the original source material. I need to put three separate "Titles" onto one DVD with a menu.

I've tried using Handbrake to rip the tracks. If I use the "Normal", I get mp4 files that FCP and Compressor say are not valid files. I also tried using "AVI" which does import to both, but the resulting test DVD had breaks in the audio. I also tried going straight to Compressor to create new images, but after 32 hours of rendering, gave up on that.

I tried a forum search, but difficult to narrow a specifcally what I need. I'm hoping someone has published a simple recipe and can point me to it, or suggest a workable process.

Thanks
 
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