TiVo exports files in a proprietary .tivo format, which SonicDVD and (some versions of) Nero can burn.
There have been noises made about a Broadcast Flag-esque trigger that a handful of programs have had, cutting off the ability to digitally transfer specific programs or even to keep them on the TiVo itself beyond a specific date. The TiVo community, in a word, went apeshit, while TiVo themselves blamed it on a bug (claiming that such DRM was only supposed to apply in future to pay-per-view and similar programming).
Time will tell.
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