I'd have to 2nd to Tivo Premiere
Despite the issues it's had (some of which we are still experiencing), it still blows away the competition for us.
We have it setup with an antenna to record all the network shows, and supplement cable shows with Amazon and Netflix. I know that Tivo is not free, but it still spreads out to be around $10/month if you sign up for a year or two. Dropping our $65/month Directv service and moving to a $10/month service with Tivo was a no-brainer. We had a DirecTivo for many years, so the switch didn't affect the wife at all considering the interface is almost exactly the same. Even buying a few cable shows on Amazon puts us well ahead financially of where we were. The other feature we've really come to enjoy is the ability to upload video content onto the Tivo to watch on our own time. It seems neither Apple TV or Roku are offering this feature.
My Tivo has had one issue that I feel I must mention - the Netflix streaming is not as reliable as on Roku (we have an original Roku too). It has this issue were the screen blacks-out every 3-5 minutes for about 5-10 seconds, then returns. I've talked to support about it, and they claim that they have a fix in the works. Honestly, I feel it's an issue that can be solved by a software fix, and we enjoy every other part of the Tivo so much that I don't care too much about the Netflix issue, so we're not going to return the unit.