Stainless is your friend. Buy high temperature tubing so you can clean it with near-boiling water. (for post fermentation tubing.) I like the silicon tubing for non-vacuum applications. Get some good stainless steel disconnects of whatever style you prefer.
Honestly, procedure trumps equipment for consistency, but stainless is far and away the easiest to clean. Glass is just as easy, but has an inherent danger that has to be considered.