From what I understand, [C]inema [C]raft [E]ncoder (CCE) does a very good job at handling problematic movies... Independance Day and Armageddon come immediately to mind. These movies are at 6GB+ with "movie only" and "one audio track." But, addressing your question, "what is the best....?????", I have one answer: It is all relative, & it all depends on a lot of various factors. For example: (1.) The quality of the original, (2.) The quality of the viewing source, e.g., seeing a movie on a plasma TV will reveal more imperfections than a 13" black and white TV. (3.) What kind of eye you have, (4.) Which program you used.
I would recommend looking for the following programs: DoItFAST4U, DoCCE4U, CCE 2.66.01.07, ReAuthorist, VobSub_2.23, DVDDecrypter 220.127.116.11.
P.S. Always test on a DVD-RW!