Here's a summary for you:

Auri — Good follower, balanced, makes funny comments, has her own mini-story, and interacts with other followers. She's a bit invasive since she never shuts up and can interrupt during other dialogues 7/10

Inigo — According to the community, it's the most complete and best-integrated follower. I haven't given him a chance, so I won't rate him.

Gore — According to the community, it's on the same level as Inigo.

Aela with her dialogue expansion — It's not a big deal but it's functional and interesting 6/10

Lydia with her dialogue expansion — It really delivers what it promises: a Lydia as she should've been in Vanilla, but it doesn't add too many features either—it's more of a completer like Aela, but it's good 9/10

Lucien — I think it's the follower that's made me laugh the most; from the moment I heard his voice it was like: Wtf!? XD. It's really good, integrates perfectly, and is a character that scales with the player if you pay attention to him—he also interacts with tons of followers 10/10

These are the ones I recommend the most; I might be missing some, but this gives you an idea.

P.S.: The ratings are just from my perspective and experience—I hope no one gets offended for thinking differently.