DKIMproxy is not an OpenSMTPD filter and is therefore more inconvenient to use. Moreover, its development stopped in 2013 and it is therefore dangerous to use.
The two other are fine, however I think they lack a few features, like automatic key rotation and publication of obsolete private keys.
### Why would anyone publish private keys, even obsolete ones? Are you crazy?
DKIM's goal is to fight spam, that's all, and for that it only need the keys to be safe when the recipients receives the email. But because it includes a cryptographic proof over the content it is being used for other usages, mostly as a legal proof long after the email has been sent and received. Publishing the obsolete/revoked private keys allows the sender to regain deniability.
Matthew Green wrote an excellent article on this subject: [Ok Google: please publish your DKIM secret keys](https://blog.cryptographyengineering.com/2020/11/16/ok-google-please-publish-your-dkim-secret-keys/).
The simplest way to revoke a key is to set its `not_after` field at the current timestamp. A new key will automatically be generated. You may also set the `revocation` field to a different timestamp in order to publish the key when desired.