I rate Voyager as being in a different class altogether, since it is free and open source. I will always choose FOSS over proprietary software, particularly for network-aware apps, whenever a viable solution exists.

I haven't tried Boost for Lemmy yet, but I didn't care for it on Reddit (my wife loved it though and used a lot of its moderator features). I used Relay for several years myself, and then Infinity for Reddit until I left the platform.