Well.., in my opinion you're looking at three materials that all wear well, although I personally don't like Zytel (for no good reason).
I would give the edge to G10 for endurance, and it also doesn't absorb moisture, or oils from your hands like Micarta does.
-However-.., I do like Canvas Micarta even though it's absorbtion rate is somewhat more than G10, but again.., this is not for any reason other than my own preference.
I do think Canvas Micarta remains decently "grippy" even though it's absorbtion level is higher, and I like it's looks better in general. It would be my choice.., but I would give the endurance nod to G10...