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DVDShrink is great but is well out of date now and so wont work with all modern DVD's. I'm not aware of any other ripping programs that are free and will let you keep the disc menu etc.
MakeMKV is a very good free ripper, but it puts the rip into a .mkv container and you loose the menu. You may find another program to put it back onto a recordable DVD but you wont get the menu back.
Other than that you could look at buying the likes of AnyDVD or DVDFab that will alow the likes of Nero to copy the discs, but they are not cheap.
Mark.
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