The only file format that pretty much 100% guarantees support on most media hardware is h.264 in MP4 containers. With some encoder tuning you can make them decently small without loss of fidelity; people will notice bad encoding more than they will a slight loss in pixels. I would focus on making a really high quality 720p copy of the shows ans batch encoding them with handbrake (or finding good encoded copies on the usual places)
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