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Normalizing will make many tracks sound bad, and really damage tracks that have a good amount of dynamic range. If you don't care about sq, then Mp3Gain is free software which will do a bitchin job of normalizing.
I use CDEX to rip and encode, using Lame / 320kbps. This is acceptable in a car, no problem.
For the best quality, avoid normalizing and use a LAME based encoder at the "V0" setting (highest quality VBR). I use the one from www.dbpoweramp.com.