Sounds like your needs are fairly basic. No need to go all out for some premium burning software. You should have a look at the FreeWare listed below. I currently use Burnaware for music cd.
If you're going to do mp3 music, I would, I'd suggest you process them through mp3 gain before burning the music to disc. http://mp3gain.sourceforge.net/
Tired of reaching for your volume knob every time your mp3 player changes to a new song? I do.
MP3Gain analyzes and adjusts mp3 files so that they have the same general overall volume. It's quick & does an excellent job with no degrading of audio.
If you're really picky about audio quality, then have a look at EAC [ExactAudioQuality] http://www.exactaudiocopy.de/
It makes little sense to burn DVD audio, especially if mp3. You'd need a hundreds+ songs to fill a 4.7GB DVD to capacity. Just grabbing the first 800 from my library wouldn't fill a DVD.
A standard inexpensive CD at 700mb capacity will hold a ton of mp3s sampled at 128-320 bit rate. Most discs will play 6+ hours with very good audio for a car stereo.
I'd avoid discs labeled RW. Just be sure to use quality name brand discs, TDK, Maxell, Sony etc, not those bargain basement varieties.