and found your definition of streaming:
"The cameras record the video. You do not stream directly from the cameras. The video files are stored on the Internet like Amazon S3, MS Azure, etc. and then the video files are streamed to devices like the Roku, Amazon Fire, Chromcast, Smart TV apps, etc.
Not looking to Live stream directly from any camera."
Apologies for being redundant.
Any of the camcorders you list will work. In this context, the camera does not matter. Obviously, my "not live" definition applies.
I would like to understand why your consumer level camcorders were not acceptable and while the dSLR samples seemed to be OK, the limitations you encountered using the D5200. If we know the problem(s) you are trying to solve, we can provide information on what caused the issue and the best potential path to resolution.
For example, if the lighting is poor and this caused the consumer camcorders' recorded video to have "noise" (some call "grain" which is usually reserved for actual film use, not video), then we know the problem, can explain why it happens and provide suggestions to resolution.
In this specific case, small lens diameter of a consumer grade camcorder can't let enough light in to the small (usually single) imaging chip resulting in the video amplification (ISO or gain) to automatically turn up. There are two paths to resolution. One is to add light. The other is to use a device with a large lens diameter which lets in more light and large imaging chip system which has an easier time dealing with less light before turning up the video gain.
One of my camcorders has a 67mm lens diameter and an APS-C imaging chip. Very dSLR like. It also has 2 XLR audio inputs. Another of my camcorders has a 72mm lens diameter with a 1/3 inch 3CMOS imaging chip array - and it does much better under poor lighting conditions than the camcorder with the APS-C sensor.
In your short list, you have:
* XA10 with a 58mm lens diameter + 1/3 inch single CMOS sensor.
* HF G30 & XA20 (which are basically the same camcorder with the same lens diameter, 58mm, and same single 1/2.84 inch CMOS imaging chip. The major difference being the add-on handle and XLR adapter on the XA20).
Both of these Canon camcorders are designed to be camcorders and have a fixed lens.
* NEX-VG3 (I think as the NEX-VG30) is more "dSLR like", but designed to capture video (so it does not have the overheating/auto shutdown or file segmentation issues like a dSLR designed to capture still images that happens to capture video as a convenience feature). When you use the stock lens that comes with the VG30H, that is the same as the one that came with my NEX-EA50UH (so, 67mm diameter), and it has the same APS-C imaging chip. The VG30 (and EA50UH) captures MTS files rather than the MOV files of still image dSLRs.
Since you liked the results of the Nikon D5200, expect the NEX-VG30 to provide similar results. If you want to understand the appearance of the video under "streaming conditions", then I would urge you to "stream" that D5200 video.
And I suppose it will be helpful to also understand your workflow. Simplistically, mine is:
Camcorder captures video.
Import captured video to video editor on computer. I use Final Cut Pro X on Macintoshes.
Edit. Cut unwanted parts, color correct, add special effects, scene transitions, titles & credits, etc.
Render.
Upload.
None of this has to do with "streaming" until someone selects the video to view using their computer, tablet or streaming media box (AppleTV, Roku, etc.) and accesses the host site (Vimeo, YouTube, etc).