I know there are more sophisticated FOSS ways to do it, but I ended up buying Wonderfox DVD Ripper Pro for titles that Handbrake can't decrypt with libdvdcss. So far that's mainly been TV series.
It does the job quickly, but I'm not a fan. The layout is chunky and garish. It feels like something designed for preschoolers. The presets are limited, and I'm stuck with 128Kbps audio. #DVDRipping