> At first, I used some random phone chargers, but the Pis would always complain about undervoltage, and throttle their CPU

This is a real annoyance with raspberry pi's. At first you think that you can run them off of USB power, but then you realize that they start throttling at 4.75V, which is still within USB spec (especially when you consider the voltage drop across the USB cable). The point of a spec is that compliant stuff should work, so you shouldn't need a "high-quality" power supply and cable, just compliant ones.