I asked for a suggestion and no one helped. So I tested HandBrake. It has good quality, but it lacks one feature: audio extraction. Nothing is perfect.
Also consider MakeMKV. I don't use any of these (I don't rip DVDs or Blurays), but it seems that Handbrake and MakeMKV are the two most mentioned rippers.
As soon as you have generated a mkv file out of a Bluray, you can use tools like Music Media Helper to extract the audio data. That's my way to get the audio data out of Pure Audio Bluray discs.
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