There is a workaround
Get Xmedia Recode, (you can get the portable version from videohelp.com:
http://www.videohelp.com/software/XMedia-Recode/old-versions#download)(I suggest you use version 3.0.0.0) extract the zip anywhere and start the program.
open your .mp4 file
1- The program has a tabbed interface, the first tab is format, select custom from the list of profiles.
select type of audio you have (AAc, AC3, MP3,...etc) from the list of formats, this will also automatically add the file extension for the output.
2- Go to the Audio tab -> select copy from the Modus drop-down menu
3- Go to the Filters/Preview tab, at the bottom you will find 2 ways to limit the range of operations, by chapters or by time. select fro chapter 1 to chapter 1 , this means all processing will be limited to chapter 1.
Also select where to save (source path, save to folder, save as)
4- Go to Jobs tab, it will be empty, click the button Add Job, and the job will be added to the cue.
5- Repeat the operation selecting a different chapter each time, and add it as a job (you do not have to re-open your original mp4 file, The program accepts multiple jobs from one file added to the cue)
When you have added all the jobs, Click the button Encode.
your audio will be extracted to multiple files by chapter