Just had the HR20 installed today. HD channels look amazing. But, the SD picture quality compared to my R10 (Directv Tivo) unit is ALOT fuzzier. I've treid every combination of native on/off, different resolutions enabled and disabled, but the picture quality has really dropped off. I have a Panasonic 7UY 42" set. I leave it in "full" mode. Any advice would be appreciated. I did search the forum, and found a few threads and tried the things that seemed to work for others. But my conclusion is something in the HR20 is worse than the R10.