We are a family who has both the HR20 and three TiVo based DVRs, including the HR20. We prefer the TiVo and dislike the HR20.
I was admittedly barely smart enough to fly military aircraft for a living, including some which were fairly technical. But, not one of them was as user 'unfriendly' as the HR20, in my opinion, anyway.
When DBS Talk has to post over fifteen pages of various unpublished features, work arounds and translated instructions, tips and tricks, just about the operation of the machine, it would seem to be fairly cumbersome, it seems.
The additional fact that you usually have to pay for it, but not own it, and undertake a two year programming promise worth big $$$$$s in debt to activate it, makes it even less desirable.
Overall, the HR20 works fine, but I doubt a majority of users who have tried both would vote for it over TiVo software machines. Still, I have another positive-it is way better and is more capable in almost any installation than the antique Motorola boxes Verizon disributes with FIOS.