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Ah, I thought you just said audio for some reason. I've used the screen grab method (using OBS studio) and it's looked fine on a standard TV. Handbrake would be my go to for that though.
One alternative, depending on the popularity of the band, is to see if there are any hd streams on YouTube or torrents or similar.
The easy option would be to play the DVD on your computer, make sure all other computer sounds are muted and then use Audacity to record the sound.