To put it simply —

XD has auto animate which is great when I need to rapidly prototype something with interaction.

Sketch is the most mature program and has plenty of plugins and mass adoption so it’s great for enterprise software and other stuff I work on at my job.

Figma is ideal when working within a design team because of their advanced collaboration tools. Real-time collaboration and versioning makes it my go-to whenever I have other designers I’m working with.