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I can clearly tell the difference between most 128kbps MP3s and CDs on my stock (bose, ugh) car stereo.

iTunes sells AAC, not MP3, as far as I know. My _opinion_ is that 128kbps AAC is about the same quality as MP3@V2.

I don't buy music from iTunes because AAC isn't compatible with all my devices.

It is true as you say that other CODECs are "better" than MP3.