Suggestions for burning audio from a DVD?

I don’t really want to stumble thru the Internet wilderness trying to find the above (only to have them have some hidden activation restriction or time limit or something), so does anyone have any recs for a free program for ripping DVD audio into .mp3 format so I can play it on my car stereo (among other things)? TIA.

Handbrake can probably do this. You many need DVD43 as well to decrypt the DVD.