I think that doing shameless self-advertising of this nature is scandalous.So let me do it for you ...
I've used Magic SEO URLs for a client, tried unsuccessful to use Ultimate SEO URL for another and have tested Simple SEO, though have yet to use it in anger. But if asked by a client which I would recommend, I'd say Simple SEO.
Ultimate SEO URLs is well-constructed but was released as a Beta and the author hasn't been supporting it or moving it to a stable release for quite some time.
Magic SEO URLs has a nice installation, and good installation support, but if it just doesn't quite do what you were expecting or think it should, you may find yourself on your own, and it's closed source, so it's take it or leave it.
Simple SEO is well structured code that doesn't interfere with core code (only one file over-written), does what it says on the can (at least on the Linux boxes that are all we use), is under active development and is so open that the author allows you to peer into his repository, so that you can get the very latest fixes. I'm looking forward to having a live project upon which I give it a run out.
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