TypeORM -> classic ORM, the "default" choice in node, but not very mature compared to what exists in Java or things like Django ORM. In my experience it's not an amazing lib, transaction management is a bit painful, I've seen a couple bugs happen.
Knex -> it works but not sure why you'd use that rather than TypeORM
MikroORM -> not a lot of experience, one of my colleagues really likes it, read the principles behind it and see if that talks to you as it's a bit opinionated
Slonik -> Never used it but probably what I'd set up on a new project. Like many people I think that query builders are BS and I'd rather use SQL: Slonik makes that very easy while giving you the usual getOne/getMany utilities
I'd like to try Prisma though, I've heard good things