Simply get yourself an analogue-to-DVD converter (Canopus makes some internal and external solutions) and run the Video Out of the TiVo into the converter. Good news here: The TiVo includes two Video Out ports, so you can still have a VCR hooked up, etc.
Then, hook the converter into a FireWire port of your Mac, and start up Toast 6 to make use of the new "Plug & Burn" feature. Select the DVD-Video option, and you should see the converter ... then just click "Import and Burn!" Or, set a timer: You can have Toast finish burning after 1 minute, 10 minutes, 30 minutes, etc.

