Sapphire Falls - higher end, boats to parks or walk, great pool, most expensive moderate
Aventura - very short walkways, fewer child guests, minimal theming, walk to SF for boat or use buses or longer walkways to parks
Cabana Bay - lazy river, retro theme, good food court, often long hallways to room, more activity in lobby, bus to parks or longer walk to SF across a busy street or very long walk to parks
All on site hotels include free, continuous, very reliable transportation to the parks. Bus transportation drops you off at the CityWalk hub / security. Boats/walkways have their own security.