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How to convert home movie DVDs to .mpeg files?

My wife brought me a box of DVDs with her home movies from her life before me. I would like to store the contents permanently on our Linux home server alongside 100,000 jpg files and some more recent iPhone videos in HEVC/.mov format.

Since the DVDs are MPEG-2 format, it should be trivial to just move the files.

Preliminary look-around suggests that the DVD has an ISO-UDF file system (which Linux is happy to mount) with an empty AUDIO_TS folder and a VIDEO_TS folder containing a small number of VTS_XX_YY.VOB files, each smaller than 1GB. VLC is happy to play the .VOB files, so in the cases where the is only one VOB file, it seems that it would work to simply rename it to MyHomeMovie.mpeg and put it where my PLEX server can find it. But what about the general case where there are 2, 3 or 4 VOB files?

Can I just concatenate them into one file, or do I need to use a program to join them in a way that the header data up front gets updated to reflect the larger file, and the other header data blocks are omitted?

If so, can you point me to a program to do that?