I've put this question to Support. But, no, there is no way of skipping the menu.
Here's what I do. I create the movie with chapter markers. Then I feed the file to DVD shrink (freeware) and skip the menu there.
This way you may also generate a slightly oversized DVD in PD and get it just right in DVD shrink - a functionality missing in PD. Support acknowledges that the best fit parameter does not work properly, but they do not have a solution to it. I've suggested that they simply have DVD shrink as a plug-in. We shall see....