www.av-comparatives.org
Check for real-world and malware protection and performance.
Take note that several of those tested are not the free versions.
Given that, the top four would be Avast, AVG, Bitdefender, and Kaspersky.
My interpretation of the results:
The most complete and the one with the highest protection level is Avast. (I think Bitdefender lacks some features needed against ransomware and Kaspersky lacks the firewall.)
The one that's set-and-forget with no nags is Bitdefender. (For Avast, you can block them by enabling game mode and do not disturb, but you will only see warnings via a blue dot in the system tray icon. For Kaspersky, popups will appear once every few weeks and can't be disabled.)
The lightest is Kaspersky. You can test performance by installing, testing, and uninstalling AVs, but you have to use a test machine for that because multiple installation and uninstallation may damage the system.
I found Windows Defender one of the heaviest, but only for some tasks. (It's said to be the lightest for gaming, although several third-party AVs also have game mode.) Avast caused momentary freezes for some apps and the browser. AVG left remnants when I uninstalled. Side note: Kaspersky Standard (paid) felt heavier than the free version, and very likely because more security features are activated.
Given all that, I decided to just use Kaspersky. If they make Avast lighter, I'll switch to that. If they make Windows Defender lighter and better in terms of performance, I'll uninstall Kaspersky.