DVD-Audio Explorer extracts DVD-Audio files. It uses a reverse engineered algorithm to break the security code. I think it was the first to break the code. It is freeware available from several places including
DVD-A Explorer Download It takes some patience to learn to use and it does not do anything about tags, but it works to extract the files. There is discussion on doom9, including this thread.
Instructions There is a thread somewhere on doom9 that goes back to the beginning of the development, although I don't have a link to it.
It has been a while since I used it, but I got it to rip my DVD-A at one point.