I have two vacuums, one for each floor.
The downstairs is a "Compact" cannister. It's about 70 years old, I inherited it from my grandmother. It uses a bag and filter, though. It has amazing suction. I'm not sure they make them anymore but they might be available used or on ebay or something.
Upstairs we have a Eureka upright that my esposo bought about 20 years ago. It's pretty good. Uses bags but not filters. Decent suction.
We also have a Dirt Devil stick vac that uses a filter but no bag. I take the filter out and run it through the dishwasher occasionally (bought two so I could swap them in/out as needed.) It has excellent suction, is lightweight, and converts to a hand vac. It was dead cheap, less than 25 bucks, and is about 2 years old.
I would buy any of the three again, but I'd walk over hot coals and take out another mortgage to replace the Compact.
helpfully,
Bright