Moving Content To TiVo

I'm interested in taking the decrypted DVDs that I have and using TiVo Desktop Plus / pyTivo / kmttg to either serve up to my Premier or to transfer to my Premier. This looks like a much easier model than swapping my TV's input back and forth to my DVD player.

My question is should I transcode the DVD mpegs and, if so, to what?

I know how to consolidate the VOB files. I have VideoReDo and Handbrake.