We watched a live episode from the "Festival of Europe" and the video quality wasn't that great due to what I think are the Zoom platform limitations. A day or two later an email showed up that said "If you'd like to re-watch the event or send the video recording to a friend, please visit www.ricksteves.com/tours/festival-of-europe. The latest video should be uploaded within the next few days."
When following the link it turns out you can choose to watch the video on YouTube instead of the RS website, and on YouTube you can watch in HD!
So I guess we'll miss knowing we're watching future presentations live with thousands of other fans around the country, but by waiting a day or two we'll get much better video quality. I thought I'd pass this along in case others are interested in watching the show in HD.