A popular historical recommendation for DL media has been Verbatim DVD+R DL, and I've had good luck with it in my 2008 Legacy. I usually try to burn at a nice slow speed, too - 2.4x or 4x.
There are plenty of other good choices, but the Verbatim DVD+R DL seems to be some of the best that's widely available.
I remember getting very frustrated with a spindle of Memorex DL media, and vowed "never again".
DVD-R might work in this application, but I've never tried. I don't think it's quite as well supported by random DVD readers.