Movavi apparently does the job as well as 'Switch audio File Converter'. However before I decided to buy one of these I finally found a free way of doing this - a bit long but works:
1 - use handbrake to rip the DVD into MP4 format on my WXP machine, keep the audio uncompressed (would you believe I thought Handbrake was Mac only? What a moron I am !
2 - use Audacity and load the MP4 rip (need to install the FFMpeg library)
3 - optional - cut the track into chapters if desired
4 - export the file(s) in AIFF
5 - use iTunes to open file(s), add to playlist and burn to audio CD
Steps 4 & 5 can of course be altered for whatever format/CD burning software you will use.
Whew - I can now listen to Porcupine Tree in the car on the drive back home from Montreal tonight! I am celebrating the little victories after a long, crappy day at work.