Krav Maga was originally adopted by Isreali military and is their primary defense for CQC. What I like about Krav Maga is the simplicity, even if you only learn lets say 8 moves, you can defend yourself with confidence.
Out of curiosity what bad things have you heard about it?
As a fighting style, there is a seriousness to it in terms of capability to really hurt someone. The goal of Krav Maga is to stop a threat quickly and "end" the fight. Whether that's disarming them from a use of gun, knife, or by their hands.
I once watched a video of a news reporter who tried Krav Maga for roughly 4 weeks and when they showed her sparring with a partner, she literally looked like she has been training for at least a year. She was so accurate and swift in movement that it flowed perfectly the way it is supposed to.
Krav Maga is simple, quick, and effective. Many law enforcement and other military forces have adopted this training even if they are taking personal classes for it.
Out of your list of options, I would go with Muy tai. Aikido is a peaceful art of defense, Taikwan do is a lot of flipping people and hand grappling movements (at least what I remember when I was young going through instructional books and practicing) Karate is not for the street, Boxing is limited and only effective if both are fighting hand to hand, kickboxing is not for street fighting or defense (although they can be used, but this is not a Van Damm movie)
I would say research, choose a style that can relate to street fighting, self defense, has simplistic moves to remember and that can be built on muscle memory easily, and has a good variety of strikes, maybe some wrist locks, and grappling defense if fight goes to the ground.
Muy tai has also been adopted to an extent within military hand to hand as well I believe.. IMO for self defense, anything that military or law enforcement does for CQC hand to hand is a good place to learn from. Sparring is always involved and it's not based upon sport, it's based upon real life situations to defend yourself and get out quickly.