Personally speaking, Gazebo is just simply better right now not because of its software, but solely because ROS is deeply integrated within Gazebo. Without ROS-integration, you won’t be able to access a conglomerate of packages within Gazebo. You won’t able to use off-the-shelf robot models and differential drive packages. I know ROS is available for Unity and Unreal Engine too but it’s just not up to the standards of Gazebo as of now and there are still ROS-bridging issues to address. This could definitely change and if OpenRobotics decides to support and keep ROS up-to-date for all 3D Simulators.
Secondly, Unity and Unreal Engine doesn’t have a physics engine up to par to Gazebo. Sure, versatility is important, but if you don’t offer the right tools in a broad scope, it doesn’t matter. With that being said, not having a reliable physics engine can lead to many errors that could have been predetermined in the simulation.
Either way, All 3D Simulators has their pros and cons and it depends which software suits your needs. If you have access to IEEE-Explore, there is a research paper that analyzes and compares the 3D Simulators you mentioned in further detail.
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