I've got a Linksys WRT54GS that I got in mid-2004. It works great, and I would recommend Linksys.
That said, I have heard negative things about the newer WRT54G's, which are very similar to the WRT54GS. So maybe Linksys has gone downhill since I got my router.
This router works very well with a G PC laptop, a B desktop and a B laptop, a wired desktop, and my N Macbook.
I also have a Motorola Surfboard cable modem that I've had since 1999. It works great.