Yes, if you are going to use TiVo you need a cable card. I'm sorry you had so much trouble. Back in the early days it was hard to find a technician who had a clue about them but over the last several years that has really changed. I would suggest that you pick up another cable card from the Xfinity store and try it again. It could be that your previous card was bad. That can happen. You certainly should not have trouble watching a basic cable package with your TiVo and it would be a shame if you were unable to utilize the equipment you paid for.
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