That gives you more options. The audio quality should be fine. If they have LPCM that's lossless (the same format as WAV). It's just not "high resolution". And when I 1st got a DVD player I didn't even know that Dolby Digital was lossy and it's always sounded great to me (assuming a great recording/performance).
If you don't already have DVD ripping software, here's what I'd do:
I Use DVDshrink. They don't advertise that it decrypts the DVD, but it does. It's an old FREE application. I have version 3.2.0.15. At some point they MAY have "updated" it to remove the decryption to make it fully-legal but that version can be found online.
The "shrinking" is optional (so a copy can fit on a single-layer DVD) and it only applies to video anyway. And as you may know, the audio/video files on a DVD are VOB files (MPEG-2 video with AC3 or LPCM audio). They are split into 1MB files so with my video concert DVDs the splits usually happen in the middle of a song. With audio only, the file may be less than 1MB so that may not be an issue, but DVDshrink has an option of not splitting the output files. It also allows you to select which audio tracks to include.
Then you can open the decrypted VOB file in Audacity (with a regular video DVD it will just open the audio). From there you can make individual song files and export as FLAC or MP3, etc. For Dolby AC3, you'll need to install FFmpeg for Audacity. If you only have 5.1 channel audio,
here are the downmix "formulas".
I'm sure there are more straightforward ways to do it, but for me this is free software that I already have an I already know how to use.