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Manufacturers are taking their time with adding QoS features. The Linksys WRT54G, GS and GL have priority-based QoS for physical and logical (application) ports.
Netgear doesn't appear to support QoS on any of its routers.
D-Link is using Ubicom's StreamEngine technology on its DGL-4300 and DI-634M routers. The good news is that this technology is automatic and seems to work well. The bad news is that it handles upstream QoS only.