I have DirecTV, and although they have the automated voice system that all these companies have today (and I personally can't stand), I've always had pleasant experiences with them. The wait times aren't unusually long (I believe the most I've waited on a phone call was five minutes), and the customer service reps are very friendly and professional. As far as any service appointments, they've pretty much been on time each time they've had to visit my home.
In-between stints with DirecTV, I also had Time Warner Cable...I also haven't had too many bad experiences with them, although I do wish that their quality of service could be a bit better (TV recievers, occasional internet outages, and so on).
Arugably, the most irritating customer service I ever had to deal with, as far as TV and/or internet, was with Clear internet (which is now owned by Sprint). The internet speeds are okay, but you have to live an area in which they have cell towers; I couldn't use them at my previous residence because I was out of range of their towers. As far as their customer service...there's a reason why I despise outsource--service reps who can barely speak English, and are clearly reading from a script. It's nothing at all personal towards those folks...I just prefer to have someone who lives in my own country who can provide the service needs I desire. I'm looking for another internet provider (maybe going back to TWC is a strong option), because I can't continue to pay $55 a month for mediocre service (and I was paying $50 monthly for Clear prior to Sprint officially taking over).