Plain VLC can do it. You may need to at least install libdvdcss and libdvdread packages, they are 100% open source and easy to obtain, but you need to read the guide for specific OS because some system distribution repositories does not ship them by default for legal reasons in a few countries.
What software would that happen to be, supposing it’s not MakeMKV?
I’m pretty sure handbrake can rip as well as re-encode.
Plain VLC can do it. You may need to at least install libdvdcss and libdvdread packages, they are 100% open source and easy to obtain, but you need to read the guide for specific OS because some system distribution repositories does not ship them by default for legal reasons in a few countries.