We have also stayed at all 4.
Horizons (harbour lake) is nice but is lacking in some of the expected amenities such as a fitness room. They only had two treadmills. And they are still building the resort so many things are not done or missing.
Imperial palms, nice and with the three bedroom unit but we found the shuttle to the Marriott world a big pain.
Grande Vista is nice but too big and golf oriented. I stayed here without the family a few years ago.
Cypress harbor is our favorite. Not too big, not too small, everything within walking distance, something for everyone, the little ones, teens, ect, and the resort is beautiful.