For touring or pan car the 481 with the internal reciever is a nice choice however for almost anything else the 481 doesn't fit in many reciever boxes due to its awkward shape. The 471 is the best reciever in my opinion as I don't bother with any telemetry functions. All 4 of the receivers you listed are FH4 receivers which mean they all perform to the same latency/response figure.