I ended up getting this one Amazon.com: Tao Te Ching a Bilingual Edition by D.C. Lau and it's really everything I could hope for.
It consists of two parts, the first has the "Wang Pi" version of the Tao Te Ching, which is the most well known, with for each verse the Chinese version and English Translation.
The second part is based on scrolls that were found more recently but that are some of the oldest versions of the Tao Te Ching that are known, also bilingual. There's also a great general introduction.