I've used https://openaudible.org/ to download my Audible library before, if you want a fairly simple GUI.
1. This tool can be used to extract your encryption keys: https://github.com/inAudible-NG/audible-activator
2. ffmpeg -activation_bytes XXXXXXXX -i name.AAX name.mp3
-i in.aax -c copy out.m4b
1. does not transcode 2. captures and retains all of the metadata