The best replacement for neato xv-21 is signature pro.

The best alternatives to neato xv-21 are rated as following:
★★★★★  signature pro
★★★★★  xv-11
★★★★  roomba
★★★★  xv signature pro
★★★  roomba 630
★★★  roomba 650
★★  roomba 790
★  irobot
★  neato xv-11
  roomba 620
  roomba 770
  roomba 780

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neato xv-21
signature pro
xv-11