DVDshrink and Nero are perfect for my needs.
The quality loss is a complete non-issue for me. By the time I delete all the extra "features", menus, language tracks, subtitles, and trim the video so it starts at the beginning of the movie and ends after the cast credits, most rip at 100% quality anyway. Some as low as 95%, which is still REALLY good. Very few go any lower than that.
But if you're into all the menus and extra features, you'll want to either burn to double-layer disks, or find something that will let you split the content up between two disks. Personally, I couldn't care less about the extras and menus. Menus just delay the start of the movie, IMO.