The advantage of ORY was that it required this somewhat custom frontend (since it's not password based) -- I'm not sure how much easier that would have been with Keycloak (my guess is it would have been harder), and I haven't used Authentik before so I'm not sure.
Keycloak is definitely more setup and a bit more clunky. I've never deployed Authentik though, I really need to kick the wheels on it and see how it works.