All the pre-Web UI patterns start to shine when you're working with more powerful software tools - where there are more than half-dozen available actions, so you can't just stuff them under a single hamburger list. You have to start categorizing, grouping actions by their commonalities. You can't sort by importance, because importance changes from minute to minute.
And menus of old were plenty discoverable. They weren't categorized for discoverability, because that's not the job of categorization. If you want to discover what the software can do, you spend 60 seconds expanding every single menu and reading available options. The categorization is there to introduce grouping concepts that are easy to remember, so that next time you're looking for an action you know (or suspect) exists, you know where to look for it.
Also, compared to the others you mentioned, hamburger menus are the most discoverable.