What are the best ways to connect external devices like cable boxes to my Roku TV?

From most to least desirable: use HDMI input for digital HD and SD video, use AV input for analog SD video, or use the antenna input for analog SD video using NTSC. HDMI cables are recommended for best video quality and because they also carry audio signals, requiring only one cable. For 75-ohm coaxial connections, use the ANT/CABLE input. (Page 6-7)

From the official Roku Keep TV Smart Television manual, page 6

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