I've used a Go-Video unit at work, can't remember the model number. It is very easy to use, 3 or 4 button operation. But, I didn't figure out how to add chapters or menus or anything like that. I know you can add them every X minutes, but I don't know if you can do it by setting marks or whatever. The quality was fine, you're coming from VHS so it isn't going to improve. The audio it handled very well (I was copying an out of print concert VHS tape), it sounds great.
If you want ultimate artistic control, you'll have to go software (which is a pain). The Go-Video route was certainly very easy.