Although I theoretically agree with this, I think assigning the reads in the right transcripts is not trivial (whereas gene-level quantification are very consistent among different tools).
As read length increases and coverage becomes more even, I might change my mind, but I think RPKM is currently the most practical strategy and tools using RPKM measurements (such as limma) are known to provide accurate results. For example, you can check out these differential expression comparisons:
http://bib.oxfordjournals.org/content/early/2013/12/02/bib.bbt086.long
"In general, limma performed well under many circumstances in the present comparisons, being also computationally fastest to run."
http://genomebiology.com/2013/14/9/R95
"We find significant differences among the methods, but note that array-based methods adapted to RNA-seq data perform comparably to methods designed for RNA-seq."
http://cdwscience.blogspot.com/2013/11/rna-seq-differential-expression.html
*Recommend Partek or DESeq over edgeR or cuffdiff
I am probably stating the obvious, but RNA-seq is not a measure of absolute expression. It is closer to absolute expression than microarrays (probably), but comparisons between genes (ranking by expression) should be taken with multiple, large grains of salt.
RPKM between replicates should be fine, but if you want to optimize check: Optimal Scaling of Digital Transcriptomes