HRS Consultants have been completing PeopleSoft upgrades for the past 5 years. We have done both HRMS, Financials and PeopleTools only upgrades since PeopleSoft HRMS Rel 2.0. Although we generally use PeopleSoft's recommended upgrade path, we have developed some of our own SQL scripts and SQR's to help speed up the process.
In addition to the regular upgrades, we have extensive experience with implementing PeopleSoft patches and tax updates.