We have had a Toshiba RS-TX20 TiVo, with free lifetime basic, for a year now, purchased new.  We love it.  Never a glitch recording DVDs, but have heard of people having problems recording to DVDs with some versions of the TiVo software.  Latest version of the TiVo software makes it slower which is irritating but still would not give it up.  Warning - Initial software download can take hours and requires a land phone line.  Be prepared for an extended setup time, but it is worth it, have patience.