NV3550/AX15/M5R2 = modern car driving experience
ZF/NV4500 = driving an old truck with a good transmission. It is still your old 3-speed but adds a really low 1st gear and an overdrive.
From the "mainly road driving" comment, of those two choices, NV3550 is the better choice. The AX15 is just about the same and apparently has better parts supply these days. The Mazda is easier to bolt to the engine, less adaptors, '97 to '03(?) 4.2 V6 F150 has a better shifter location for a Bronco. If you open your selection a little bit, I will recommend the Mazda M5R2 over what you offered.