If you’re ripping from disc, you can currently use MakeMKV. Specifically MakeMKV Beta.
It’s been in beta for ages, and the website has a registry code to “Validate” it. I’m not sure when that ends.
From there, what I do is take the MKV file I’ve ripped, and I run it through Handbrake to turn it into an MP4.
I hope this helps. These are the tools I’ve been using for a few years now, without issue.