From my personal experience I have found Federal Signal equipment to be reliable and perform well. Most of the apparatus at my station came equipped with either Areodynics, PA300's, and strobe systems as well.
Personally I ran an all blue Legend that I got from Steve A here for about 4 years. It was the only piece of warning equipment that I had mounted during this time. Being that I am in Pennsylvania, a courtesy light state, it was amazing how well that bar moved traffic. It was very bright with some great patterns. I have heard that some had issues with the ROC boards, but I did not experience any issues.
The only true issue I had with the Legend and ROC boards is the difficulty in finding parts to change colors. Liberty's are...