Here's the thing you didn't address, which is harr2969's fundamental axiom of backups: if it isn't automated it doesn't happen. YOU MUST AUTOMATE.
For that reason, you need to place a bigger weight on cloud options. You listed a few specific issues with cloud. I believe there are easy and specific ways to address them. The tool I'll leverage for my answer is Crashplan, although others have suggested other tools.
Cloud Concern 1 - someone else is responsible for my data: Crashplan can be peer based. In that mode, you still have control of the data at your friend/family member's house.
Cloud Concern 2 - I could lose it to hackers: Crashplan can apply a backup-specific password on top of whatever standard file-level encryption you prefer for your personal data..
Cloud Concern 3 - The entity going out of business: The resources to run the program are on you, not on them with a peer based model.
Cloud Concern 4 - Once it leaves my home, I no longer fully control it, which is unacceptable: Peer-based, again, you're in control.
Cloud concern 5 - Cloud based costs $$: you didn't even mention this one, but the peer model is free.
Cloud concern 6 - harr2969 is a shill for Crashplan: Nope. It's a good program and I use it.