I have an E55 and regularly copy from DVD-RAM to my hard drive before burning to DVD-R. I use the E55 to take the adverts out, it is easier/quicker than doing it on the PC.
No need to take your first step: with the cut-down programme on your DVD-RAM, just use TMPGEnc DVD Author to start a new project, use the Add DVD Video button and use your DVD-RAM disc as the source, select the programme you want to use, it will copy it to your hard disc, you can add other programmes as tracks or chapters, make your menu, and then have it author the DVD-R (it takes less than 10 mins, no re-encoding).
Some recordings will not maintain their 4:3 / 16:9 ratios properly, so before burning the authored files to a DVD-R, I use IFoedit to check the .ifo files and change from 4:3 to 16:9 if necessary. Without doing this, sometimes I have had a 16:9 ratio programme restricted to the width of a 4:3 picture with the black bars above/below but my TV would only stretch the 4:3 to be too wide and maintain the bars - very annoying. Altering the .ifo file makes it 16:9 properly.
Just burning a DVD-R now actually, of Hustle series 1 which was on Hallmark just before Christmas