FFmpeg has useful presets you can use with the -target flag:

• vcd, svcd, dvd, dv, dv50
• with pal, ntsc or film

eg:

ffmpeg -i [input] -target pal-dvd [output].mpg

I've used DVDStyler, and found that pretty easy to use. Was a bit crash-happy if I didn't ffmpeg (like above) my file first.

Arch repos. have:

• community/dvdauthor http://dvdauthor.sourceforge.net/ | https://github.com/ldo/dvdauthor\\CLI, a dew of the other programs are frontends for this.
• community/dvdstyler https://www.dvdstyler.org/
• aur/2mandvd https://sourceforge.net/projects/csgib/
• aur/bombono-dvd https://bombono.com/
• aur/qdvdauthor http://qdvdauthor.sourceforge.net/
• community/devede https://www.rastersoft.com/programas/devede.html