I've used EAC to do this. Instead of ripping individual tracks, tell it you want to "Copy Image & CUE Sheet." That will make a single WAV file of the entire CD, then you can convert to MP3 from that.

The audio player in the car will play songs on a USB drive and actually shows track numbers - but will NOT play or sort songs in a folder/album by track number. Apparently the fix is to add track ...