Sig, Sig, Sig
I own a Sig, Glock and USP in .40, so hopefully no brand bias here. Among the choices you offered (no glock), I'd pick the sig 229 in a landslide.
Accuracy: Sig is best, followed by Hk.
Sights: HK is good, but I prefer the Bar-Dot on the sig for quick acquisition.
Grips: Nearly everyone likes the shape of Sig grips. The gun points naturally. Beretta is next. Re HK, the compact isn't bad but the fullsize is much too blocky
Reliability: My Sig is the only semi-auto I've ever shot that has never had a malfunction. My HK 45 broke firing pins and the 40 suffered a cracked slide
But the big decider is the DA pull. Sig has the smoothest in the biz, if a bit long. The HK DA, well let's just say when I demonstrate "stacking" and creep to new shooters I pull out my USPs. Just awful DA. Really bad. You can actually see the hammer jump in stages... It's almost comical. Unlike recreational shooters who can cock the hammer, cops do have to make that first DA shot.
HK offers cocked and locked carry, yes, but I doubt if many PDs allow it.