We installed Yoast, All-in-one and SEO framework plugins on the same wordpress installation.
Long story short Yoast is the best but we don’t know why. Installing the Yoast SEO plugin is a safe bet.
We looked into the HTML code when the 3 SEO plugins have been added to the wordpress installation. Yoast and SEO framework have different approaches regarding the canonical URLs. However, at the end of the day, this is the Google ranking and the title of the snippet that is the most important. From what I have observed I think that Yoast is better.
However, when we installed the Yoast SEO plugin, we saw that the Google juice was homogeneously distributed over the whole website as we saw in our logs that new pages were never visited before.
We discovered that SEO framework let Google index media attachment pages. However, those pages are thin content. Yoast protect your website from Google penalty related to thin content by redirecting media attachment pages to media URLs (like /picture.png).
It is very difficult to know how Google reacts to wordpress pages because there are now very different from a static HTML page.
The SEO framework settings are complicated to use compared to the Yoast settings. They have similar options.