The Canon HF G40 is a high quality “prosumer” camcorder.
It will film HD video in 50fps progressive which is a good starting point for most applications.
The automatic settings work fairly well and there is full manual control when needed.
As is usual with an upmarket camcorder, there is a good quality eyepiece viewfinder as well as the fold out screen.
All in all, if HD rather than 4k is ok for your project, the Canon HF G40 is a good choice.
A great video camera, both for hand-held use and on a tripod. Canon have great colour technology, and the performance in low light is particularly good. The LANC remote support means you can zoom smoothly with variable speed without touching the camera - particularly useful at the far end of the 20x zoom. Clean mini HDMI out, unsurprisingly no time limit (although if you're streaming with no SD card, remember to turn off Demo mode in the settings before you head out: it can only be changed when there is external power).