I have a Bialetti Moka at home, it makes some good coffee. It even makes a little crema. Unfortunately, the way it is designed, the crema is skimmed off the top by the lid before it can enter your cup
At work we have a Jura Capresso, fully automatic and pretty low maintenance. These machines are about $1k. It makes very good espresso as far as I can tell. I am not an expert though. I think it would be pretty wasteful unless you did at least 5 shots a day. I dunno what kind of normal American family would do that many.
I've tried a Nespresso at Sur La Table, seemed fine as well. I really enjoy finding new coffees though, even if Nespresso was excellent I would miss using new beans I had found. This is Nespresso's main drawback, for me.