I'm not that familiar with the others, but I wanted to share my experience of Expression Engine.
Beware of this one, because there are major issues with implementing a Google Sitemap.
Most CMS's have some sort of plug-in to take the work out of adding a Google Sitemap, but not EE. What I feel is an ridiculous amount of work is pretty much pushed on to your shoulders to get it working.
They have a couple of Wiki tutorials, which are not very helpful or in-depth. Also, if you have anything but the most basic template set up you will really have a difficult time with getting the sitemap to keep up dynamically with your site.
Check on their forums and search for google sitemap, you'll see pages and pages of frustrated users, and maybe one or two that could get it working.
When people ask for an easier method, EE employees come on there and essentially say "well that would be a lot of work for us". To me it's a pretty disgraceful attitude, given that Google Sitemaps are hardly a new development.
Aside from this, I've found Expression Engine to be very easy to set up and work with, but I wish I would have researched a bit further before I went and revamped my whole site with it.
Good luck narrowing down the contenders.