There is no way to change the default "+VR" video file recording mode. For better and worse, the company that makes the Magnavoxes (and many other recorder brands) has established this "+VR" file format as the new defacto DVD recorder standard. Unlike older recorders like Pioneers, which gave a choice of VR or Video modes, the Funai-based recorders are in +VR mode all the time. Its a good idea to go into the Magnavox general settings menu, then the recording options menu, and turn on the "make recordings compatible" option. This normalizes a few things. And remember to finalize any disc (except DVD+RW) you expect to play in other units or rip to a PC.
Under normal use +VR does not typically present any difficulties. Historically, unfinalized DVDs have never been compatible anyway, between recorders or standard DVD players. As long as you finalize your completed Magnavox DVD-R, DVD+R, or DVD-RW discs, they will play nice on other hardware. DVD+RW is a separate file/disc format which is actually standardized across the board and does not require finalizing at all. The only users who encounter difficulties with the Magnavox' inherent +VR file format are those whose workflow involves ripping their Magnavox-recorded discs into PC or Mac re-authoring software: this software tends to be a bit out of date and can have trouble understanding elements of +VR that are different from file structure of DVD Video. There are workarounds, and newer versions of the software are or will be updated to handle +VR.
Depending on what brand recorders or players your friends and family own, you actually have better odds of compatibility with unfinalized Magnavox +VR discs than you would with unfinalized Video Mode discs made on a Pioneer, Panasonic, Sony, Samsung, JVC, LG, etc.All of those companies have their own proprietary unfinalized Video and/or VR modes. But Funai, the company that makes the Magnavox, established the +VR file format quite some time ago and over the years has gained the contract to mfr recorders and players for many other brands (RCA, Sylvania, Philips, Toshiba, etc.) These brands are are much higher volume sellers, so the likelihood of your Magnavox-created unfinalized disc being playable outside the recorder is pretty strong. In other words, don't worry about it.