Do a forum search for forced subs. There are lots of threads regarding that.
Ripbot should do full hd audio. I haven't used it in awhile but doesn't it have an audio copy feature? Use copy audio and it should fully retain the original audio untouched and intact.
Also checkout bdrebuilder or avchdcoder for other compression utilities. Multiavchd was another good choice but it has been abandoned by its creator so there may be unforseen complications with newer ripped materials.