Well I'm not sure what you can get for the $200, but to answer some of your questions.

Yes, an RF base station or control processor would be best. It's not like the LeapFrog IR extender. With URC, the base station receives the RF signal and sends the IR out over IR emitters that plug directly into it. The emitters then stick on the front of each piece of equipment where it's IR receiver is.

Take your time to put delay's and make the R50 the best it can be, b/c it can be pretty damn good. If it is at all like the MX450, you should be able to put the power on/off button on the first page of your devices that keep getting out of sync, so worst case you just hit the button.

The cheapest solution I've ever been happy with is the URC MX450+MRF260, but that's still $400, however to make it shine takes someone that has some experience. Most of the time, you' be better off spending more for a MX900 and base station b/c it can be programmed via computer software and so gets done much quicker.

Sorry, i don't have a great answer. I personally hate the harmony remotes.