Out of these three frameworks, I'd recommend NestJS – it's by far the most popular and actively developed. However it's mostly inspired by Angular so its take on MVC is a bit different from what you may be used to with Rails, with heavy reliance on decorators and dependency injection (and generally being more “ceremonial”). Nest is also intended to be used with TypeScript which I personally consider a plus. While you can use it with vanilla JavaScript the developer experience is more basic.