I just put in the disc, open HB, and select source as the DVD. HB scans it for a second and VLC breaks protection. Then I chose "universal" setting. I leave everything as it is (bit rate, quality, etc.). And then click start. Takes about 30 minutes.
This creates an m4v file on the desktop. Then I use a program called MetaX. This let's you add actors, director, description, artwork, etc and it auto imports it into iTunes when done.
Never had any problem at all with this.
For tv shows, I do the same only in HB you have to select each episode in the "titles" menu individually and add them to the que. Each episode becomes a seperate m4v file. You can batch edit them with MetaX. Works great.