tivo
I went through a similar evaluation process and wound up with Tivo as well. One minor difference was I settled for the previous model (Series 3 HD) with lifetime service from eBay (~$300). It's a nice unit, works great with OTA, and even gets YouTube. Our Panasonic DVD gets Netflix and Amazon Prime, so that rounds out what we need.
As an added bonus, the Tivo remote ties together our soundbar, TV, and Tivo much better than the cable "universal" remote ever did.
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