Will tivo work with 'Free' cable (no cable card)?

I recently 'cut the cord' and cancelled our cable tv service. We continue to have our internet service through our cable provider. After a long chatty discussion with the cable tech that came to pick up our equipment, he basically informed me that if I take the cable from the wall and plug it directly into my tv, I'd pick up all of the digital channels. According to him, because I still have internet through them, they haven't yet come up with a way to encrypt the cable service. Sure enough I tried this on two tv's and we get all of the 'cable' channels in SD, and we get the local channels in HD. They are the same number channels as they were when we paid for the service. So my question now - is there a Tivo model that will work with digital cable that doesn't require a cable card? I appreciate any input!