This is extra tools, but they should be free, so I think that might be OK in some cases. From a reddit page:
# tools:
brew install dvdauthor dvdrtools
# Convert to MPEG-2
ffmpeg -i input.file -threads 16 -aspect 16:9 -target ntsc-dvd out.mpg
# Demux into VIDEO_TS/AUDIO_TS structure:
VIDEO_FORMAT=NTSC dvdauthor -o directory -t out.mpg
# Create table of contents IFO
VIDEO_FORMAT=NTSC dvdauthor -o directory -T
# Create ISO
mkisofs -dvd-video -V VOLUME -o out.iso directory/
# Burn (or maybe rather use macOS's "Burn to Disc..." GUI feature)
hdiutil burn out.iso
Using an Apple SuperDrive, my first attempt failed, ruining the DVD+R disc, at the hdiutil burn step. It seemed to burn happily, but when it was trying to finish the burn some errors were reported:
Burn failed The disc drive didn’t respond properly and can’t recover or retry. The disc drive didn’t respond properly and can’t recover or retry. hdiutil: burn failed - Not a directory
On second try with the same iso, I chose to right click on the iso file and chose "Burn to Disc...", using the GUI of macOS to burn to a disc with the same brand of DVD+R disc as the first attempt. This time the burn was successful as I could playback the video in a standalone Panasonic Blu-ray drive. However macOS reported error when verifying the disc. The discs I am using having been lying around for 15 or some years so that could have something to do with it.