Let me see if I have got this straight. You started out with DVDs. You recorded them to VHS tape. Now you want to record the tapes back to DVDs. WTF?
That's sort of like using a copier to copy a fully-bound, duplex-printed full-color book to single-sided black-and-white pages, then wanting to copy the single-sided pages back to a fully-bound, duplex book.
If you thought the video quality was crappy on the VHS tapes, wait until you see the tapes copied back to DVD! (If you figure out how to get it to work.)