Yuhan Blu-ray Creator (https://yuhanmedia.com/bd-creator) can meet your requirements, it can add multiple video files, and you can customize the menu, you can also add background video and background music on the menu, and you can also choose different episodes on the scene menu page.
Yuhan UHD Creator is a good UHD authoring software that can retain Dolby Vision and HDR10 and supports custom disk menus.
https://yuhanmedia.com/uhd-creator
The latest version 3.7.0 of Yuhan 4K UHD Creator has 24 sets of menus. It encodes video files into 4K HEVC 10bit UHD (3840x2160), and the menu resolution is also 4K (3840x2160), which is very clear. You could try it yourself. Save it as ISO, and play this ISO with vlc media player on the computer, then you can see the whole effect of 4K UHD.
Hope it helps you.
At present I make 4K UHD discs are BD25 and BD50 disc, they are all fine, but BD66 and BD100 writable discs may have problems because they are double-layered, I see online users say that 4K UHD Player does not support, but you can save as BD66 and BD100 ISO.
Yes, I made a lot of 4K discs with Yuhan 4K UHD Creator(https://yuhanmedia.com/), and it played very well on Sony and Panasonic’s 4K UHD Blu-ray Player, but I haven’t tried Oppo’s player, you can try it for free, the trial version can make 5 minutes.