My own research (though that hasn't included 2-way audio) a few months ago showed the same thing, basically that there do not appear to be any high-quality outdoor IP cameras available for $200. Though it all depends on your definition of "quality." If quality = higher def resolutions, non-flaky firmware, optics than can actually adjust to quickly changing light conditions, etc., you're likely to be over $300 to
well over $300.
Sub-$200 will get you up to 480 lines of vertical resolution and infrared capability, and newer ones are now starting to include IR cut filters in that price range that help daytime video color to not be so washed-out. However as you've found, reviewers generally aren't terribly pleased with what they got for under $200: flaky firmware, poor optics, etc.
I work with a few high-end IP surveillance cameras at work (coding remote video streaming software for PD's) that are amazing in just about every way, but they also cost $2500 each, unfortunately.
And even those max out at 640x480 (albeit with 32x optical zoom).