@ PVD , Tittlewriter will do what you want .
I'm not sure it's exactly what you want but works like most commercial menus do .
Meaning a "Main Menu " screen will come up first.
Then you select "Setup".
This will take you to the Subtittle & Audio menu.
There you can select the Audio track you want.
The nice thing about Tittlewriter is it doesn't transcode or encode so your video remains the same.
Here are some screenshots:
The first one is how you want to do the settings for the menu.
I use a small black .jpg I created with Irfanview for the "thumbnail image" it's 366 bytes so very small.
Make sure you do this:
Need to change "Use Buttons in folder" to:
To not start Title menu (Vmgm).
Bypass Vmgm IMovie Switcher)Â» Vts 1 Root checked .
Make sure after you have the settings made to select the "Apply to all thumbnails" buttons & the "Applt to all Movies" button.
Then "Create Menu & add it "button "
This is the "Main Menu":
This is the "Audio/Subtitle" Menu:
There is a software DVDStyler.
It could probably give you the audio selection on just one menu.
You could create a button for each track.
The problems with DVDStyler are:
It has a steep learning curve.
It can be picky about the A/V file it will use.
It transcodes (I think) or maybe encodes the A/V file.
So that's one more time to degrade the quality.
In the end DVDStyler isn't easy & I wouldn't recommend it for a "newb" at all. I still stumble through it & only use it when I have to.
PGCEdit can alter an existing menu but you have to learn a lot about the commands & get them in the correct place & order . So a good but difficult program as well.