I was impressed with the quality of Hulu, but it was also limited.
I have been a Amazon Prime member for a long time, but as mentioned, it is also extremely limited as of now. That will change, no doubt.
With netflix I have more issues with video quality compared to audio quality. It varies widely depending on the content. As I mentioned though, most of what I stream is the kind of stuff that I sort of don't really care if the video is HD. If I want whatever it is in HD with HD audio, I get the disc.
All of the streaming services are in the same boat. To carry more content, it will cost more and that cost will be passed on to the consumer; plain and simple. Netflix is throwing more money at it than anyone else is what I see, and in order to provide the most content, they will need to charge more to have the cash to acquire that content.