1) On DVR 540H appera in the same way. You make some dvd recording test of 3-5 minutes, finalize it and select the menu structure.
After that yo eject and reload the dvd but it start with first video without menu. Only selecting menu do it.
2) Video mode is less precise for editing but more compatible if you want copy it on dvd and give him to others and also it's faster than VR. VR mode is more accurate for editing but it's quite incompatible (Mac didn't recognize it) and is slower if you want to copy on dvd.
If you plan to use the film only into dvd recorder selct VR mode. If you want to avoid compatibility problem and you want to copy the film on dvd use standard Video mode.