I think smartripper might do it, create one single vob file that is, but its been years since i last used it, so havent kept up with developments.
You can always use vobmerge to join vob's together. As for creating mpeg2 stream, you can use tmpgenc to extract the video and audio and then multiplex as mpeg2/ac3 file.
This process is of course longer, there might be easier ways to do it.
But make sure when you create one single large file that its copied onto a partition that is formatted in NTFS, because most dvd's are larger than 3.99 Gb, and FAT32 will not allow files larger than that.
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