There are LOTS of choices for this, and I had tested/played with many of them in the past (10-15 years ago, so nothing current). What I eventually settled on and used to create many thousands of DVDs for my home library was VideoReDo. I still use it occasionally, and it is still an exceptional program, even though I am using an older release. If I recall, the price is/was quite reasonable. The only downside of VRD is that it can be complex with all the possible options and setting, but it really works great to edit and convert any TiVo files downloaded with pyTivo to either DVD or HDD storage.
I also use an Hauppaugue HD-PVR to capture HD video from my older TiVo and create Blu-ray compatible discs This device came with software to do that. The product is still available, but I know the included software has changed - no experience with the newer stuff. I rarely burn discs anymore.