If you would like to rip a DVD with multiple audio tracks (e.g. karaoke discs) into individual files for each chapter, you can consider using an old and primitive program called SmartRipper (but it works, even in Windows 10). Change the settings to split files by chapter and you will get a VOB file for each chapter in the DVD title. Rename file extension from VOB to MPG. All audio tracks will be preserved. Download the program from this link. There is no installation; just run the application after unzipping the downloaded file.