Ah, those three shows were my childhood. I've seen all of them.
Armada provided some of the best character building, despite its rushed production. Starscream was da man in that one. The kids were really annoying most of the time and practically useless, except for some moral compassing.
I liked Energon, even if the CGI animation was clunky, and most of the cast was pretty enjoyable. Kicker and Ironhide were kinda annoying though. Story had a pretty basic foundation, but it worked. Tidal Wave was awesome until he got downsized to Mirage.
Cybertron had the most solid animation and a decent story, but the characters... eeeeergghhh... At this point Decepticons had no real reason for existing, except to provide a villain for the series and Megatron was practically insane. Really liked the transformation animations though, especially that of Sideways.