… among others. Its not something most people pay attention to these days as so much is streamed content rather than physical media.
Not 840, 480.
I use 720 X 480. You can use other sizes (resolution). But they have to be a DVD format/compatable.
A good blueray player will upconvert the 720 x 480 to make it look like HD, without stretching the video.
Also should play both PAL and NTSC. My LG blueray player does. 
Most of the free DVD authors will do 720 X 480, or PAL (Whatev size that is) MP2, or AC3 audio.
Muxman, and iDVD will do PCM (wave) audio. But many free authors won’t do PCM.
I use the really old version of DVDauthorGui 1.015b, because much like old things, it works better. 
I don’t know where you got your video from, but I would record from the camcorder, VCR, whatever, directly to a standalone DVD burner. Then edit the DVD the way I described above. Or convert the video to mpeg2, ac3 or mp2 with a good video converter. The one I use isn’t free, (WinX HD) I got it free from a bleeping computer.com link to freegivawayoftheday 10 years ago, along with the key. So I know it was virus free.
One more small question. I have my video converted and most burners like it but they do not like the audio. I have my MPg2 and I do not know what audio. I select the video and check properties and it shows only bit rate,channels and sample rate.
Question. Am I really going to have to separate out the audio to change it to mp2?
I’m trying to find the best workflow with few steps. I like Devinici Resolve and do not want to change from it.