Not sure how constructive an answer this is going to be, here goes anyway.
I've yet to see an out-the-box CMS that is both flexible enough to be useful and pays proper attention to SEO. Must have looked at at least 20-30 CMS solutions and just not been impressed.
Our approach now is just to write them ourselves for each customer. Not a good approach for everyone, but by the time you cut out all of the features that they don't need it doesn't take too long - especially when you've done a few!
Most of the systems can be hacked around to address the SEO issues though. The on-page elements are easy enough to address and applying a bit of modrewriting can sort out the URLs as well. Have done this in the past as well, but prefer to write from scratch now.
What package to start with depends on what you are going to publish. I think that www.nucleuscms.org has a better base than most. It is designed as a blog package but is pretty flexible and easy to work with - especially compared with all the bloated Nuke variants.
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