I spent about a year researching this subject, reading comments on the QB about various setups, the homequiltingsystems group on groups.yahoo.com , etc. I finally decided on a Voyager 17 with a stretch Hinterberg frame. You can purchase these at
http://www.hinterberg.com and another good place I found is
http://www.sewingmachinesplus.com . I have read that the stitch regulator for the Voyager is not that great so I decided I did not need that. I had planned to call the two sources above to compare prices and then order this setup next year, planning to cap it at $4,000. However, a member of our quilt guild advertised her setup for sale (she is upgrading to an APQS) and it is exactly what I was going to order, so I bought hers used with some extras for $3,000.
I decided first on the stretch Hinterberg frame because all the comments I have seen about them have been really good. It is not only sturdy, but is easy to assemble and disassemble. Also the roller assembly that allows the machine to move freely always seems to get really good comments. It sells for about $900 online, but might be less with a coupon code. (Always Google coupon codes for an online company before placing an order!)
For the machine, I debated for awhile between a Juki with a 9" throat and the larger midarm machines. The current new Juki sells for about $900. Decided I really didn't want to deal with a small throat on a large quilting frame. Kept my eye out for comments about Tin Lizzie, Bailey, and Voyager machines. The Voyager always seemed to get positive comments. Have seen tension problems mentioned for the TL and Bailey. And that's how I decided on the Voyager.
I had a chance to try out the Voyager/Hinterberg setup before I bought it. Although the machine is heavy (about 70 lbs), it moves very well on the Hinterberg frame. I do think that the frame quality is extremely important to a setup -- just as important as the machine quality!
I too just want to quilt for myself and family. I think this setup will work well for me without breaking the bank. If I ever upgrade, I would probably look first at the Innova. Aside from consistently good reviews, there is a dealer not far from me.