I would prefer some menu. It doesn't have to be as fancy or whatever but something basic would still be good. Can't any basic dvd burning software let you have the play movie, scene selection and then just import a still from the movie for the background? I don't see how the second disc could work without a menu (did I read correctly that disc 1 has only the movie and no other video files?). But ultimately, no menu is better than no dvd at all. I wouldn't want to wait much longer just for a dvd menu, it's the content on the disc that matters.
Someone could always take a menuless dvd and encode a copy with something basic. That's what happened with the TR47 version of the Star Wars laserdisc transfer.