I use DVDDecrypter or Makemkv to get the it off the disk and to the mkv video file with audio and subtitles. I then encode H.265 with handbrake which passes through the embedded subtitles.
I then used subtitle edit on the video files: https://www.nikse.dk/subtitleedit
It can convert the embedded subtitles into a srt file.
You can embed that srt file back into your mkv with mkvtoolnix without having to reencode the video: https://mkvtoolnix.download/
I had it set up several ways, on by default, replay only and off.