I'd take the Denon, then the Yamaha, and probably wouldn't give the Onkyo any consideration, but that's just me.
That's exactly my take.
Denon seems to offer the best product out there for build quality and engineering level.
Yamaha is very reliable, but tends to not quite have the same build quality. Their amps are often considered to be of lower performance than Denon.
Onkyo just seems to be poorly engineered. They remind me of LG or BenQ. A lot of bells and whistles, an amazingly low price - then it falls apart.
In all fairness, my 7+ year old Yamaha RX-Z1 is still amazing, but I will probably replace it with a Emotiva or Denon next year.
EDIT: I would put the Pioneer models in there with the Yamahas. Solid performance, not Denon quality. Wish they still had TVs.