Vinegar with hard water is just a bad combination.
I've been using sun liquid. I like the smell and I bought it because my mom got all mad about the fact that I was using powder with our septic. I have a front loader and I just found out that liquid is really bad for it.
I really like powdered BiOKleen. We have hard water and a front loader and it does pretty well. I've got a husband, 3 dirty boys and a Border Collie that we do laundry for. Not that he wears clothes too often.
Baking Soda is good for water softening if you need it.