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No. AHRA format transfers only apply to music audio recordings. Video and audio-books aren't covered and can't be duplicated in any way without authorization. Technically even music transfers are illegal without implementing an SCMS type system to prohibit further generational copying but that has never been enforced.

Isn’t this discussion about that’s ethical and moral, rather that what’s legal?

Morals and ethics have no place in a court of law. Or, another way to think about it: morals and ethics cover human-to-human transactions. Legality covers human-to-corporate interactions.

Because corporations are not people. They are composed of people, but the people of a corporation are fungible and to consider them differently is, to my mind, a huge error.

So is it unethical or immoral to copy your VHS tape you bought to a BluRay disc?

For VHS yes but breaking DRM on Blu Rays is illegal and you have to do it to copy them. However, to my knowledge no one has ever been prosecuted for breaking the DRM on a blu ray. Unless they shared the copy online.