Using BattleStar Galatica from my 5160 recorded at HQ I was able to get perfectly rendered DVDs doing the following:
1) Run the mpg through rtvedit (did not edit out the commercials and skipped RTVConvert, not needed)
2) Import file into MyDVD. Editted out commercials using MYDVD.
3) Created menus and chapters, added music to menu scene, set for animated buttons 30 sec.
4) Set audio output to be Dolby digital, all other settings to highest quality.
5) Dropped last 30 min of show from first DVD since the longest I could get was 70min on a DVD at HQ.
6) Make DVD folder and trancode at about .75 spped of real time.
7) Using RTVEdit, merge last 30 min of BSG1 and first 30min of BSG2 to create the second DVD.
Ended up with three DVDs for a four hour miniseries (BSG had a total of 1 hour of commercials that I removed). The output was perfectly in sync. Since I have plenty of harddisk space and plenty of spare processor time I always record in HQ. Does the PQ look better than medium? That's subjective. Since I've started watching live TV again to catch shows in HD (or at least SD) with Dolby Digital, analog, all analog looks like junk to me.