You happen to have listed 3 of my all-time favorite firearms in your list: The Glock 19, the P226, and the P30. Out of those 3 if I could only choose one, I would choose the SIG. Lately I don't feel that Glock has as much of a competitive advantage in the market as they had in years past. I also feel that Glock is out of touch with their customers right now, but that's just me. I LOVE the HK and it has the best ergonomics of the group and is more comfortable to carry than the SIG, but the trigger is the worst of the bunch and not even a quality trigger job is going to really do much for it to be totally honest. The SIG has the best trigger of the group, great ergonomics, and is just my favorite of these.
This said, I carry an HK VP9 nowadays and I love it. It addresses my only complaints with the P30 quite well and is a hell of a deal at it's price point. Out of the group you listed, though, I think the P226 is the best choice. Just get a REALLY good holster and belt to lug it around.
Oh, and I actually carried a P226 exclusively for about a year inside the waistband with no complaints. It can definitely be done. I actually didn't even notice it on my hip most of the time.