Handbrake can save a DVD (that it can read; for copy-protected DVDs need the LibDVDcss add-on that might not be automatically included)
You can specify a common format, e.g. in Preset select Hardware > “Apple 720p30 Surround” which makes a high-quality MP4 file that pretty much plays on everything.
If you want smaller file size, customize the settings (and save them) to Video tab RF:20 and Audio tab to use the highest quality audio available up to 320kbps, and set it to automatically include the subtitle language you want.
VLC Media Player is superb, plays wide range of video and audio formats, and lets you set keyboard entries so LeftArrow rewinds 10 seconds (great for “what did he say” and RightArrow is forward 1 minute.
Plays subtitles Cmd-V I think is the keystroke, and lets you select the subtitles you want.
I use VLC Media Player to play a DVD to find out what Title you want Handbrake to convert. Many copy-protected DVDs have numerous tracks, to trick you; most will be jumbled mid-scene. VLC will read the DVD menu properly to find what title to play.
If you want better subtitles than the crazy low-resolution ones that are on DVDs
https://www.opensubtitles.org/en/search/subs
Rename the subtitles to have the same filename (without changing the file extension) as the video name, in the same folder as the video. VLC Media Player (and most other players) will display the subtitles using fonts on your computer.
