I want to shoot a sitcom-style language teaching program on a digital
video meant for home TV and to be distributed by NTSC DVD. The
programs will be shot both indoors and outdoors, but mostly indoors
(home, restaurant, office). Good audio is very important. I plan to
use 2-3 camcorders (one for master, two for coverage) to minimize
takes.

I need to choose a camcorder keeping in mind the distribution format
and medium (DVD FOR HOME TV).

I am considering camcorders from two categories -
1) normal miniDV pro digital (Canon XL2, Sony PD170, Panasonic DVX100B)
2) high definition pro digital (Sony Z1, JVC HD100, Panasonic HVX200)

Question:
Is there an advantage (pic quality, audio) for choosing high
definition digital camcorders keeping in mind the distribution format
and medium (DVD FOR HOME TV)?