If you’re doing it for preservation and data hoarding then it’s probably worth it to redo it, but unless you’re very picky odds are there isn’t much difference depending on what you saved them as in Handbrake. If you plan on keeping the DVDs then I would watch a bit of one as it’s then play a bit of the file and if you don’t have a problem with the difference then I wouldn’t worry about it too much. DVD is only 480 SD typically anyway. I’m not an expert though, just a fellow ripper of DVDs.