If you have mostly/exclusively wall-to-wall carpeting, little or no hard floors and little above-floor cleaning, something like a Sanitaire, a metal Royal or, if you want to splurge, a Riccar Radiance/Simplicity Synergy would be hard to beat. But, if you prefer canisters, which I do, you'll find that good ones can indeed to as good a job as the better clean-air uprights.
My recommendations would be any of the following: any Tacony (Riccar/Simplicity) canister with the full-size power nozzle, especially the top-end one (Immaculate/Moxie) which has a three-row aluminum brush roll, any Miele with the SEB228 power nozzle or a Sebo K3/D4. Panasonic's MC-CG902 isn't bad either, on a budget, and can probably be fitted with a better power nozzle if you want. (Wessel Werk's EBK360 is hard to beat - it's pretty much the same as the Miele SEB228)
Of the lot, I personally like the Riccar/Simplicity machines the best, though the Miele and Sebo offerings are quieter. Mieles have some issues with short cords and hoses, and wheels that don't work especially well on deep carpets. Sebo isn't bad in this regard, though the power nozzle's height is adjusted with a dial that you have to bend down to tweak, while Miele and Tacony have foot-pedal adjustments. You want manual height adjustment, by the way - automatic tends to work acceptably everywhere but excels at nothing.
I really like Filter Queen and TriStar, though I think their current offerings don't quite measure up to their past designs, and in FQ's case specifically, their power nozzles aren't amazing. They're good, but you can do better.
Rainbow's unique power nozzle apparently turns in amazing performance, but Rainbows are very expensive, even second-hand, and a bit of an ordeal to set up. This may or may not be a problem for you, of course.