DVD-R seems to be universally compatible these days. Using a good quality blank media is important as well. I had tried many brands over the years with inconsistent results until I went with Taiyo Yuden. These are the Cadillac of discs, been through thousands with zero coasters/zero returns.
As for burn speed, I have stuck with 8x though the media supports 16x. Burning at 16x is NOT twice as fast as 8x - in reality, it's just a couple extra minutes and a full 8x disc already burns in under 10 minutes. Not saying 16x will cause problems, just a personal choice of mine to play it safe.
Back in the day we would occasionally have +R media come back to us with problems. Not so much any more. That's probably because we mostly use -R now. Only use the +R when we run out of the other kind because we weren't paying attention to inventory levels. We have a bunch of +R to get rid of anyway.
Taiyo Yuden is the way to go.
We burn at 4x because the dupe towers have, on rare occasions, had trouble reading 8x burns.