I'd suggest a change of DVD media to Verbatim or Taiyo Yuden and ignore advice about burning very slow for quality.
Verbatim 16x media burns very nicely at 12x, although some prefer 8x but either way the results should be very good.
If you've got images then I'd advise using ImgBurn as your burning app of choice.
If you're ripping from originals and burning to single layer discs then DVD Shrink is as good as anything really. However, you might need something to remove the later protections and AnyDVD is good for that. A free way is to use DVD Decrypter & Ripit4Me to get it to the HDD and then run DVD Shrink.
Out of Shrink I'd create an ISO image file & then burn that with ImgBurn.