Simplest way to accomplish that (without violating anyone's rules) is to get a DVD recorder (a "set top box" like a VCR, but records to DVD) and hook it up with whatever [probably analog] cables... then just play from TiVo and record on DVD recorder... it's what is refered to as the "analog hole" in the whole DRM debate/debacle. Then take DVD back to your PC and can rip/edit and re-author with whatever tools you have/purchase. The quality is perfectly fine for Grandma, etc...
anything else would require asking neighbor to compromise his MAK, etc...
(but a little "googling," adjusting search terms, and a bit of digging will probably lead you in a reasonable direction, such as to VideoReDo, as poster above slipped in while I was typing)...
And a little more browsing here eventually turns up a
project name or two that might be useful...
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Do "those kids" still pour bottles of dishwashing soap in the fountain every year for homecoming? (as if they don't do that anywhere else but Sparta...)