Last night, I used DVD-RB 2.50 and the process was a complete success!
But, being greedy, I'm not done yet. Today I'm going to try to run the process again, but at the end manually insert the original audio from the ESB DVD. I dont like how the audio gets re-encoded using Rebuilder and CCE. I plan on running the Preparation & Encoding steps in Rebuilder, and then do the rest manually. I'm thinking I'll just import the original AC3 audio file and all the .m2v video files into MuxMan (or DVD-Lab Pro) and build the DVD. I hope this is as easy as it looks (seems like it never is). If this process doesn't work, its not the end of the world: what I have right now is very much acceptable.
After I finally finish the ESB DVD, it will be time to move on to the task of burning in subtitles with the ANH and ROTJ discs. Hopefully I'll get to start that tonight.
Thanks for the help!