My prefered program is DVD Audio Extrator. With this, you can rip DVDs into various formats, including AC3. You can also decide, if you want to rip each chapter into a single track, or if you want to rip everything into one track.

DVDDecryptor was the gold standard on Windows for a long time, IMO, but it's now discontinued (due to the MPAA arseholes) and I'm not sure if it runs on modern Windows.

Of course, if you can run vobcopy/dvdbackup and ffmpeg on your platform, then anything is possible. Just get the vob files off the disc using vobcopy or dvdbackup, concatenate the sets together (all the files in a set are identified by the first two numbers in the filenames; the last is the number in the set, except 0 which is always the title vob) and then run ffmpeg against it to demux just the audio tracks. But this require command-line foo.

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