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The NetMD Exploits and Web Minidisc mentioned a few times here are great, the fastest and most convenient way to get audio off a classic Minidisc, and Linux-Minidisc FFWD/QHiMDTransfer (Download at https://github.com/thp/linux-minidisc/releases/tag/0.9.16.16 ) is the same for recordings made on HiMD mode discs. To do that, you'll need one of each: A Sony Type-S NetMD Portable (list of these here), and a Sony portable HiMD recorder with USB (RH910 or NH600D would work for this).
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For ATRAC3plus on HiMD, you may be able to avoid the open source codecs by using https://github.com/XyLe-GBP/ATRACTool-Reloaded - but I haven't tried it myself and I don't know how well it works with the files WebMD pro creates. It outright won't support ATRAC1 for SP files, but that at least gets you worked around for HiMD and MDLP.