I have only owned and experienced the Heritage 84 and the
Sentria 2. I prefer to use the Sentria 2 because it has tech drive, but I think the Heritage looks more premium. I would like to get a g3 or g4 at some point, I know the tech drive pedals are better. I do like the design of the blue Avilir 2. I do not use my Kirby’s as often as I would like to. Convince is my main reason for not using the Kirby’s often, I have to carry them up one or two flights of stairs. If the Kirby’s were on the same floor as my modern design uprights, I would probably choose the other uprights. I do occasionally get a “special” day where I want to get all the Kirby stuff out.