FWIW: I managed to build a few DVD-video's with PCM audio from the command line, e.g.:
# sox /test3.wav -t raw -x -s -w -c2 -r48000 out.lpcm
# jpeg2yuv -v 0 -f 25 -I p -n 102000 -j "image.jpg"| mpeg2enc -v 1 -q 31 -f 8 -b 1000 -o image.mpg
# mplex -f 8 -S 0 -L 48000:2:16 -o out.mpg image.mpg out.lpcm
# dvdauthor -t -a pcm+16bps+2ch+48khz -c 0,00:10:00,00:20:00,00:30:00,00:40:00,00:50:00,01:00:00,01:05:00 out.mpg -o DVD
# dvdauthor -T -o DVD
# mkisofs -dvd-video -udf DVD > videodvd.iso
# growisofs -speed=4 -Z /dev/dvd=videodvd.iso
(yes I am in PAL land, the example is about audio that is a little over 1 hour)