One of the better prosumer programs for dvd creation is called DVD Lab Pro. It isn’t really cheap, but is quite versatile. I’m not fond of the way it handles subtitles, but other than that it is a solid program.
At $249, its really quite over priced for a pure dvd authoring program, especially since dvd-video is slowly but surely falling to the wayside.
One good point in DVD Lab Pro’s favor is the quality of the help files that come with it. I’ve never seen a more comprehensive built-in help section on any other program for working with video.
You can find the free trial for the program here. And this is the link for their forums: http://www.mmbforums.com/
It sounds to me like you could be satisfied with one of the free authoring programs, though you did say “professional looking menus”, which you won’t get without a lot of work using the free tools.
It is rare these days for me to bother with elaborate menus, so I don’t use Lab Pro much anymore. Most of the time I use AVStoDVD, but it is a bit weak in the menu creation section. It works fine, using MuxMan as the menu creator, but it doesn’t offer much variation. It will pass dvd compliant video and audio straight through without re-encoding anything. If you’d like to try it, you can find it here: https://sites.google.com/site/avstodvdmain/
Another possibility for you is TMPGenc Authoring Works 5. It probably fits what you are looking for more than my first two suggestions, but I don’t like the company much, so it sometimes takes me a bit to remember them. They have a 14 day trial so you can test the program and see if it fits your needs. http://tmpgenc.pegasys-inc.com/en/product/taw5.html