Recommendations:

1. Reduce the maximum bit rate to between 8-8.3 (that's much!!! more than sufficient for catering for changes in movement between frames). It sounds to me like with your max set at 9 with ac3 & menus added on top it might be a bit much for your player to handle. I never have my max above 8.3, & I do outsourced pro work with video conversion, etc. Maximum bit rates at that high are only intended for very fast action & swift changes between frames & sections. eg: sports or high speed action. Normal videos are happy with a maximum well below 8.

2. Try burning your disks at minimum speed whatever that is. eg: 1, 2 or 4 speed.

3. Try a DVD-RW disk if your burner supports dvd-rw burning. Then after re-encoding at a lower bit rate see if the same problem occurs.