I'm very happy with our HQ-16, which we've had for a little over a year (and before the Avante came out). We'd tried the Nolting, BabyLock Jewel and Tin Lizzie, and much preferred the HQ. We've also been pleased with the company's accessibility to answer questions. I've heard good things about the Innova machine, too, though they're much newer to the non-industrial market.
We just recently got a Qbot, in part because of all the happy users and in part because it's quite a bit less than the HQ ProStitcher. I do a nice freemotion meander, but will never have the time and patience to get good enough doing the harder stuff (and I hated doing pantographs). Happily, the digitized designs cost about the same or less and can be modified to your heart's content.
--Heidi
http://www.flickr.com/photos/32113973@N05/