I know a few people who have repeatedly bought rental cars over the years, to include a family member. They have all turned out to be fairly reliable, low maintenance vehicles purchased at good prices.
Yes, some, if not most, get abused and you could run into 'hidden' problems down the road; however, there are people out there selling cars that have neglected/abused their vehicles just as bad, if not worse. That being said, most rental vehicles are very well maintained, often better then the average owner.
Basically, you just have to take the same precautions you do when purchasing any used vehicle.