Do you need/want to only use freeware?
What other software might you have installed on your computer, as related to video work?
I've started to use Womble MPEG Video Wizard DVD for authoring menu-less discs. It has a very quick authoring tool, though it only accepts muxed sources.
TMPGEnc Authoring Works has some bugs that I've run into, too. It was my go-to app for years and years, but I may swap to Womble MVW DVD for some of my menu-less work hereafter. Neither of those are free, however.
I was testing out authoring freeware just yesterday, but had to stop because the encodes were finishing (and client projects come before testing). If I have a few free minutes tomorrow, and an authoring system is open, I'll resume. Bombono was going to be next.
Note that most of our with-menu professional work is done with either DVD Studio Pro (OS X) or Ulead DVD Workshop 2 (Windows XP), with menu-less discs done in TDA/TAW (or maybe Womble MVW DVD moving forward). Rarely is anything else used or needed in any way. Encore and Architect are available, too, but that's mostly for the purpose of Blu-ray work, and not DVDs. DVDSP and DVDWS2 handle DVDs quite well.