Through trial and error, here's what I've been doing with DVD+RWs recorded with the 5005. It's inelegant but I've had consistant success. (the reader/writer on my computer is a NEC 1100A)
Rip disk with DVD decrypter in file mode (CloneDVD works well, too) (this may take several attempts, keep trying)
Open the VIDEO_TS file with Nero Vision Express 3 in DVD-VIDEO mode (no vr), you can import the movie files and edit out the commercials, etc. (NVE3 is buggy, so save your project frequently) You make your own menus in NVE3. "Burn to file".
DVD shrink can read that file and now you can do what ever you want with it. I tend to make a ISO and then just burn that onto a +R (even Speedy CD will burn that ISO).
In any case, the results work on all my dvd players, even my Pioneer 563A.
So you end up using 3 or 4 programs, but you end up with what you want.
I hope this works for you.