My experience is with front wheel drive, so I don't know how relevant it is. I started on RE-11, which is what I used for track days. I tried Rivals and they were faster, the test was a bit skewed in that the Rivals were run in near freezing temperatures, the RE-11 were still slower despite being 20°F warmer.
I like the ZII, I think they were slightly faster than the Rivals, though it was slightly damp when tested, so its difficult to be certain.
I've never done a head to head comparison with RE-11A, we mainly used them for track days and I hated them. They grained so badly that the rubber was falling off in long strips after we'd finished. I tried them for one autocross, in a different car than normal. Despite have twice the horse power, the car on RE-11A didn't run as fast as our other car could on Rivals/ZII.
I've never tried RS-3, my competitors have made good use of them, particularly in hot temperatures like the Crow's Landing tour.