I have used or tried every one of the DVD programs I have ever found. Until recently, I was quite happy with DVD Decryptor + DVD2ONE (like DVD Shrink, but has a "join" feature to merge separate titles) + Nero to burn.
Then I switched to Slysoft's AnyDVD
+ Nero to burn.
This CloneDVD2 now allows you to choose the DVD Navigation menu or not, preview video elements and chapters to see if you want to exclude them (ie. Previews, Promo/Ad clips), select sound streams, and then gives you a nice green-yellow-red slider bar of how the quality will result with your choices.
There has still been an occasional movie on two sides/two dvd's (i.e. Sleepers) that needs the "Joining" feature that DVD2ONE has, so you need to be flexible.
Also, don't forget the Doom9.org website resources