The H6essential is the Zoom's most robust and flexible recorder. Like the rest of the Essential lineup (and the H5 Studio), it features dual A/D converters and 32-bit float recording, so no clipping. I'm also particularly fond of the placement of the waveform monitor on this—in my experience, it makes it very easy to see.
If you don't need the flexibility of six channels, my normal recommendation is for the H5 Studio, but the H6essential is obviously no slouch. You really can't go wrong with either one.