this post was submitted on 10 May 2024
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AV1 and VP9 are likely going to be your highest efficiency "free" codecs. AV1 is the way to go if you mean free as in free open source. It's not very likely to be implemented in many TVs or set-top-boxes, but VLC/ffmpeg will be able to decode any of these. Webm uses vp8 or VP9 which are "free"(made by Google) but it's just more specific settings for sharing online/viewing in browser.
H264/H265 has license fees for non-free software and hardware, but they will be your most widely supported option. H265 is approximately twice as efficient as h264 (meaning you can get the same quality of encode from half the file size).
Regardless of preset I think you can get handbrake to encode something reasonable from any of these codecs. Especially with DVD video you'll be able to crank through videos with modern high efficiency codecs
I would try to avoid VP9. Hardware support is spotty and I suspect that new hardware is going to relatively quickly phase it out. AV1 is better in most circumstances except for a few devices that have hardware VP9 support but not AV1 (a few years of Android phones mostly). So unless you need a specific device you currently own to have hardware decoding support (only really matters if you are on battery for <=1080p content) just skip VP8.
VP9 has pretty wide support, probably due to the Google (and YouTube) backing. I sincerely doubt devices will phase out any codecs, especially not VP9.
AMD video cards have supported hardware decoding of VP9 since vcn1.0 - well before they had support for decoding AV1