You don't even need TiVo's software. You can use your web browser, just type in
https://{tivo ip}/nowplaying/index.html , username 'tivo', password is whatever the MAK is for your TiVo (check TiVo settings, it's listed in there somewhere). Select a show and download it. Then use
DirectShow Dump to remove the TiVo encoding, and you can do anything you want with them from there.