The first two favor plutonium, the last one favors americium.
It's still not a close call, as far as I can tell (I'm not a domain expert). If you plan for even 20 years operating life, then your initial heat dissipation (for Pu-238) would be 1.17 of the nominal power at t+20 years, due it its radioactive decay. The largest RTG, GPHS-RTG, has 13.0 kg of "housing and fins" [0]; if you scale that linearly by 1.17 that would add +2.2 kg.
On the flip side, the isotope mass that emits 4,500 Watts of heat goes from 8.3 kg of Pu-238, to 39.5 kg of Am-241—that's +31.2 kg.
This is relative to a total mass (GPHS-RTG) of 56.0 kg.
(To preempt anyone complaining that this are small quibbles: the total dry mass of New Horzions [1], which contained one of these RTG's, is 401 kg).
[0, pdf] https://ntrs.nasa.gov/api/citations/20080003866/downloads/20... (table 1 on page 3, "State-of-the-art RPS. Comparing existing GPHS-RTG with near-term MMRTG and SRG110")
U-234 has a 246,000 year half life and can be safely ignored when calculating the remaining heat output.
> ESA’s heater units will not only be a first for Europe, but the first anywhere to use americium-241, a by-product of plutonium decay that packs less power per gram than its predecessor
... except that decay occurs from Pu-241, a different isotope which is not what seems to be commonly used for RTGs, and has a half-life of only about 14 years.