Use KMTTG in conjunction with PyTivo. It also has remote functions onscreen that will mock your remote, but you would need to see your Tivo screen as well.
Original S1 (Recycle Heaven)
Series 2 (PLS, sold)
TiVo HD (XL, PLS, "652")
Juliet Basic (4XL, PLS)
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to start streaming on Roamio/Bolt!