They’ve moved on since I bought mine, but the 650 looks roughly like what we have.
The slightly cheaper 630 doesn’t have a scheduling feature. We don’t use ours since our house is too big for it to do at once (2200 sq ft.) so that might be a better idea for you. When we run it where the charging station is it is cool that it returns by itself, but you still have to clean it.
We have carpet, hardwood floors, and tile, and it works great on all of them.
Now if it only had anti-gravity technology to do ceilings …
My Roomba 560 has been good for over a year in the same environment minus the cats. The 500 series is probably what you want because they are the mid-range models. I got mine for about $250 IIRC refurbished. It was actually new as far as I could tell but they cost a lot more as true new models. I still think it would be worth it however at full price. You may want to get a pet specific model however. The Roomba 564 is one of those and highly rated.