I've been reasonably pleased with SonicWall's lower-end offerings. I've installed TZ-200s at most of my client sites and their performance, ease of configuration, and security options have been fine for me. Setting up L2TP VPN connections is pretty painless. L2TP kind of splits the difference between PPTP and IPSec in terms of complexity of setup.
I bought them for well under $400, so they're a viable option for a serious home user.