DVRs failing

I have 3 DVRs (R22/200), SD signal.  Two DVRs are failing.  Can they be replaced?

If I add HD (and I can't believe they charge extra for it), do I automatically get new HD DVRs?  I know the R22s are capable to receive HD signal, but with 2 of them failing (one lost its HD port and the other has increasingly longer delays between the remote action and when the TV reacts), I was wondering if this might be an option.

I would like each TV to have its own DVR.  I think this is covered by the DirecTV Plus HD DVR.

Lastly, any suggestions on how to navigate the Customer Service department?  I've tried to get basic information a few times and gave up.  I don't want Genie or Tivo.

Thank you