The tools on your list split into two groups, and the evaluation criteria differ for each.
Security-led inventory: Qualys, Rapid7 InsightVM, Axonius, Defender for Endpoint. These are strong when the goal is coverage and exposure, meaning finding unmanaged devices and feeding vulnerability workflows.
CMDB and ITAM-led discovery: ServiceNow Discovery, BMC Discovery, Device42, Lansweeper, Open-AudIT, ManageEngine, and Virima (disclosure, I work at Virima). These aim at an accurate asset record plus relationships between assets, which is what incident and change work depends on.
Factors I'd weigh, in this order:
Agent vs agentless. Agents give deeper endpoint data and cover roaming devices, but add deployment and maintenance overhead. Agentless gets you coverage faster, though credentials and network access become the dependency. Virima's discovery is agentless.
Re-discovery, not just first-pass coverage. Ask each vendor how drift is detected and reconciled. Inventories usually go stale at month three.
Relationships, not just a list. Can you see what depends on what before a change?
ITSM fit. Does it integrate with the platform you already run, or does it ask you to replace it? Virima works alongside ITSM tools such as ServiceNow and Jira Service Management and doesn't replace them.
Cost and complexity. Enterprise platforms give more automation and scale but need more implementation effort. Open-source and SMB tools are lighter and cheaper but usually need more manual upkeep.
Run a proof of concept on a representative slice of your own network with two or three of these. Results vary a lot by environment.