I don't have a better way, but her is how i handle them
I rip my audio books differently depending on weather the chapters are numbered or named.
If the chapters are numbered I rip an entire CD to one track
-then for the track name tag i use 01 - BookTitle
02 - BookTitle
etc
If the chapters are named I rip each chapter to a separate track
-then for the track name tag i use 01 - ChapterName
02 - ChapterName
etc
When the chapters are named it increases the number of tracks and it takes longer to tag.
You should be able to find a website that lists the chapters of the book so you can copy and paste them all instead of typing.
Unlike ripping music either way requires a lot of manual tagging.
I boycotted all software and hardware made by apple years ago so i have no productive advice to offer about using iTunes.