Thanks for the replies.
Using a PC is not that convenient.
The Sony RCDW100 is just what I need, but it is expensive and is not available locally, so I will use the DVD recorder instead.
I have an old Teac tape player with audio out which is still working (I have better quality Onkyo tape recorders but they need servicing).
The tape player sits right next to the DVD recorder so I am thinking of recording to the HDD, insert chapter marks as needed, then burn each tape from the HDD to a DVD-RW and finalize it.
Then use the PC to extract the audio track ONLY from the DVD and convert the audio track to a CD-R CDA format, hopefully keep the original chapter marks.
This way I don't have to dismantle the tape player every time I have the time to do a backup.