Legality is somewhat confusing, but for personal use it's generally "who cares"...
https/www.winxdvd.com/resource/dvd-copyright-infringement-laws.htm
"The law makes no explicit grant or denial of a right to make a "personal use" copy of another's copyrighted content on one's own digital media and devices."
I use the tools "DVD Decrypter" to extract the files then drag the folder into "Handbrake" (both free software).
For Handbrake I use these settings for DVD's (not BluRays)...write them down:
1. drag folder or video in
2. MKV (MP4 if MKV won't play on device), then Automatic
3. Decomb, Default, Default
4. H.264
5. FPS (same as source)
6. Variable framerate (99% sure.. whatever is there by default under FPS)
7. Avg Bitrate: 3000Kbps (can experiment but probably great quality for DVD)
8. Optimise (Medium), Tune (Film, Animation as applicable.. animation is probably cartoons)
9. Encoder Level 4.2 (I don't go higher for compatibility reasons on various media devices.. same reason I do not use H265)
10. Audio: AAC 128Kbps perhaps but sometimes has poor audio so I just use "Passthru" and choose an original English track if space not much issue
11. Subtitles? (just "X" out if not needed)
12. Chapters (use or not.. I use them)
*Note that for DVD's you should use Anamorphic which means the video is encoded at something like 720x480 then stretched by the device you play on back to the proper RATIO... you can choose NOT to use Anamorphic then mess around getting the proper ratio but you'll lose information that way (i.e. encodes at 720x400 with no need to stretch)
Anamorphic should be used then unless the media device it plays ON can't properly stretch the file back to its proper size (most or all now should work fine).
*This seems confusing at first maybe but it's pretty easy once you get going.
**If you extracted a bunch of DVD's to separate folders you can "Add to Queue", then setup another DVD to convert, finish the setup then start them all (so you can do several overnight or when leaving for work).