What is the best testnet for Ethereum?

I'm exploring the various Ethereum testnets and want to know which one is the best for testing smart contracts and dApps. I've heard of Ropsten, Goerli, and Sepolia, but I'm not sure which one offers the most reliable and efficient testing environment. Additionally, I'm interested in understanding the key differences between these testnets and how they compare in terms of performance, usability, and community support.