I finally did it. DVD to ipod without itunes. Yeah, it's all been done before but I had to screw around with everything before I could get it to work with audio. So this is how I did it so I won't forget.
Load up dvd into DVDDecrypter.
DVDDecrypter settings: Mode:IFO Streaming Process enabled with 0xE0 - Video -720x480(NTSC)/16:9 and 0x80 - Audio - AC3/6ch/English only checked. Tools:Settings: IFO Mode File Splitting set to None.
After that decrypts, open it in Videora iPod Converter and wait about an hour or 2. Load the new MP4 into Winamp with iPod connected. Right click,add to iPod.
