CD Sunrise works with just about anything. It's also tiny. The only tradeoff is audio CD support (you get none). If nothing else, it's useful as a diagnostic tool. Fewer things to track down if you have problems.

If audio support is important to you, then by all means use v5.3.1 -- it's the last Classic-compatible free version from Apple that supports third-party drives. As the previous post says, you can make a hybrid installation with 5.3.2 (to get additional functionality).