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All of them are pioneer in the area of open source content management systems and can be used for creating any kind of websites. However, when it comes to SEO features, I would rather choose WordPress among all, as there are plenty of SEO related WordPress plugins easily available on the internet.
Drupal7 is my personal favourite, has so many modules that bolt-on to your existing website to increase website functionality, performance, interactivity and so much more.
Roll on Drupal8.
Wordpress is my choice. Because it is the only CMS which is more USER friendly for clients other than Joomla and Drupal. Client can easily work on SEO using wordpress.
Wordpress <3
The answer for this question lies on the developer, because depends on the comfortability of him/her. SInce I come from a Drupal background I would say that Drupal can give you a lot of flexibility and capabilities to enhance the SEO.
The SEO isn't out of the box in Drupal, in order to achive the SEO targets we have to install and implement several modules which are pretty straight forward and easy to manufulate. Drupal lets you cover SEO from image titles, alter tags, meta tags and sitemaps that can be published on any search engines with the use of paterns and tokens; this will ensure that your pages have different values and enhace your SEO.