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I remember seeing a post on Reddit from some vacuum repair guy and the overall takeaway I'm pretty sure was get a miele
I don't have strong opinions on vacuums in general, we don't have much carpet in our house, I have a roborock s7 on our first floor to clean and mop, but that's all tile and hardwood and an s6 that runs in our basement that is the thinnest cheapest carpet known to man. For our second floor and stairs, we have a shark lift away. It seems to work well enough, I like it being cordless, and the lift away setup is nice for the stairs. Had it for a couple years now and we've been happy so far. If you have a bigger house or more carpet than we do though, the batter life way disappoint you.
I asked him (the vacuum repair guy) about a specific model for ellergic people and got the same answer, Miele. Got one and it's the best vacuum I ever had, still works perfectly well, it's just a bit scratched after some 10 years.
Lightweight and with all the filters for allergies too btw.
On a side note, he said keep away from dyson because it's crap.
I think his name was /u/donttouchmyfuckingcoffee. His occasional vacuum AMAs were pretty interesting.