I'd completely agree with you about Sky's VOD muppetman. I thought I'd miss the 3rd tuner on the TiVo but haven't at all due to the simplicity of Sky's VOD. I also like the fact that you download the VOD content on Sky and it's then stored in your planner to watch when you want. I remember a number of occasions with VM's streaming VOD when I tried to watch it and the network was too busy so I kept getting error messages saying it was unavailable.
So whilst I'd never rule out returning to VM for TV as I had many happy years with them, it would have to be an extremely good deal as like you I much prefer Sky's TV offering in terms of usability and content.
With BT entering the TV market and the onslaught from streaming services, the pay TV market has become very interesting over the last couple of years and the choices and deals are out there for the savvy consumer.