Depends on what you want to achieve. There is no "one solution fits all". Go ahead and give some of the options a try! Then make a decision based on your project.
Personally, though, I do not see much merit in a simple HTTP/MVC wrapper + router, like express. It's just as easy to write the VanillaJS. I even came across some statistics which show just how slow express really is (I wrote about it in my HNO). That's why I work on a custom solution which fits me and my needs, namely tooling, security and scalability.