Just dug out some very old threads about this problem. The problem is not only the encoder, the muxing and the authoring applications are just as important.
Have a look at this thread:
https://forum.doom9.org/showthread.p...319#post739319
and especially this post:
https://forum.doom9.org/showthread.p...503#post743503
Of course when using a modern BD player for playback you probably won't get any stutter even with a DVD which is outside of the specs. But I would not recommend to simply ignore the specs.
For me the ultimate (and free) DVD compliance checker is the latest free version of MuxMan (just as picky as Scenarist, but I cannot afford Scenarist). Mplex/DVDAuthor and FFmpeg/DVDAuthor are far less reliable in my experience.