Home Assistant is the clear winner, in my mind. It's a very robust project (four full-time devs, plus a huge community), very actively developed (https://www.home-assistant.io/blog/categories/release-notes/), and has a very healthy and helpful support community.
They do very similar things, usually even identical. Get the one that does the things you like (i.e. that's ready with very little configuration to do the things you would like for it to do). Maybe look at the community, see if the help given is given freely and positively. That will impact your enjoyment of the software and I feel like that is the most important factor.
