All the hassles with BD authoring is why I tend to stick to mkv.
It's not difficult to create an introductory mkv with audio channels listed that is like a menu but without the possibility of selection. Then you just choose the correct track number in the movie via the player and chapter backwards. Extras are just additional mkv files.
If you want to get fancy, you create the menu/intro in the same format as the movie and combine it into the one file, making the intro long enough to make soundtrack selections before the movie starts and you create a chapter point to take you directly to the start of the movie if you don't want to bother with the menu/intro.
Many players will auto progress to the next file in the list, so you can start with the "menu" file and then let it run. The only thing you need to do is change soundtrack and subtitle if necessary for the main movie.
Menus are overrated IMO.