Well you have quite a few options here. I've been through the same thing as you. Spent weeks researching the topic.
Before 1999 you will do very will with UltraISO which does exactly what you want, auto-renames and you just pop the disc out and put the new one in. I paid for my copy and use it all the time $30, well worth it. Maybe you can find it for free.
Once you get to titles released in 1999 you're going to start running in to Safedisc protection which requires extra steps. as I said it's quite complex. To create a backup of a SafeDisc protected CD there are 3 options.
Option 1. Using no-cd cracks. The most simple but without the crack the backup is worthless.
Option 2: Decrypting the safedisc encryption. Requires decryption software which is easily found on archive.org
. Can be run in a VM, sometimes you have to run in it in Windows 98, sometimes you need 2000/XP. Creates a working backup copy and only takes about 30 minutes per disc to decrypt once you get it set up. It's a hacker approach which means you need to have an intuitive sense of how software works and experiment with it. This is my preferred method.
Option 3: Purchasing an 2000/XP machine and running CloneCD on it. Takes up to 5 hours per CD to rip. This brute forces through the corrupted sectors on the CD and creates an image file that you can burn to a CDR that will work. Downside is that you can't mount the image file without the Clone CD software which means you it's only good for creating backup CDRs or running software on XP machines.
Once you get to about 2002 the Safedisc encryption get's very sophisticated and there are other more nefarious rootkit type copy protections and you are stuck using Option 1 only.