I had a DVD I couldn't rip properly with MakeMKV, so I used PGCDemux and muxed it with MKVToolnix, but that didn't include the chapters.

So I fed it through ChapterXtractor, and output the result in OGG format. Used the MKVToolnix chapter editor to add the chapters to my MKV file.

Problem is, there's a sync drift. Chapter 2 is about right, chapter 3 is a split-second early, and so on until chapter 19 is several seconds before where it should be.

ChapterXtractor also reports the runtime as 2:28:49, and VLC reports it as 2:28:58.