Never cared for Hartsfield. Have only been to SF a couple of times since they re-modeled. MSP got a big expansion of the security clearance area which improved it a lot - security capacity was the biggest shortcoming when I was going there a lot a few yrs ago. DTW is very plain but fine - my one complaint would be that at departures Delta does a lousy job with the traffic management for the various lines - Pre-check/TSApre-approved/Medallion etc. Visibility of the signage is poor and it's never clear which line is which, so they have to have people out there telling you where to go and keeping people in the right line, which is fine but seems silly when they could just make it easier to navigate in the first place so you didn't need the help.
On the plus side, in my travels I have yet to go anywhere in the country where you get your bags back faster than DTW.