Whipper user here also. If you've not yet encountered it, as it's not as prevalent in repos as Whipper, Cyanrip is always very much worth a look and has come on in leaps and bounds, with recent updates adding (non compliant) .cue sheet support.
I only discovered Cyanrip somehow quite recently and rate it as highly as Whipper, which I've used since its Morituri days. Appreciate Cyanrip's desire to be suckless but still enjoy Whipper being able to produce TOC/CUE sheets. MKTOC can always prove handy too if one cares about Right Offsets..