Creating a menu'd DVD IS possible - I've already done it.
If you use DVDdecrypter to rip the disc, the audio rips off saying there is no delay.
What you need to do though is add 4 frames onto the beginning of the audio before re-authoring with a menu, otherwise you get a noticable sync problem when viewing.
Some of you may not want my copy though as I converted the ac3 to wav and then back again so the sound is REALLY lossy now - even though you can't actually tell by listening to it.
If anyone wants it, let me know and then I'll just need to figure out how to torrent...