Yes you can. You need to link the TiVo box to your DVDR via the scart lead (I know you said this, but saying it for others who may read it). To record you need to start playing the programme you wish you copy, this is the only way.
Even a 1TB box would soon fill up (especially with HD recordings) and what happens if you get a fault with the Tivo box and it cannot be repaired.
Also I keep some recordings for more than 10 years.
On DVD I have recordings of old Top Of The Pops from Germany recorded when I used to have an analogue satelite box. Also Formula 1 races from over 15 years ago which were recorded on VCR and copied over onto DVD.
Also a Tivo box is not portable like DVDs are. What it needs is Tivo boxes to have an extra scart socket to connect to a DVDR