I'll 3rd the James Taylor DVD "Live at Beacon...". Beautiful color, punchy video and very well produced. Sound wise I love it! Much closer to studio quality than concert quality. It appears it was produced/mixed to present the concert in a "you are there" fashion without the artificial multimedia effects some 5.1 audio discs present (the audio from the rears is mostly just crowd applause).
My DVD 5.1 music collection is limited, but IMO this is the goal isn't it... to sound real, not recorded/produced. Fancy rear effects are cool, and can be enjoyable, it just depends on what your in the mood for. For James Taylor fans it's a must, for others it might surprise you.
Keep the recommendations coming, I'm looking to expand my collection.