I can't say if all require a subscription, but I imagine they do. The only workaround I know of are either linux based open source solutions or using wintv to record in windows on your computer. That works pretty well, but may not offer the convenience you desire.
My Tivo doesn't require an internet connection, it has the option of dialing up to their service using a phone line each night.
If you are interested, we can discuss computer based options. I am recording an input signal with a winTV card and software. I can schedule recordings, and then play them back on the computer, hook a lcd or dlp tv to to my computer to play back that way or burn to dvd.
Tivo makes it easy, and is probably worth the money. I bought a lifetime subscription, it was pretty cheap. It does have it's problems though, and is by no means a complete solution.
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