I genuienly have not heard about either one of the three. I guess I remain stuck in PHP, Phalcon Framework, Symfony and Django / Flask.
I find Flask is more comparable to Express.js in that regard. Need auth? You need to:
1. Install a lib for persistence
2. Set up cookie sessions, or install another lib for JWT
3. Set up auth middleware
4. Prepare login/register/forgot pass views and flows
which are almost the same steps you need to take in Express.js.