I ran into the same situation a while ago, needed a simple command-line tool to generate an audio CD image (which is just raw PCM audio data with a .bin extension) and cuesheet out of a set of source files. Needless to say, I ended up writing a minimal 200-line Python script to do the job [1]. Generating a DVD-Video image is several orders of magnitude more complicated than that though, so perhaps a bloated tool is justified in that case.
[1] https://gist.github.com/spicyjpeg/97c450320796fc0cb00c2a1490...