When I was in a similar boat, I chose Vanguard since they were doing fine handling my IRA and I prefer the single pane of glass approach to managing my investments. Other than checking my balance from time to time, I have everything automated so I really have no need to interact with them and their fees are pretty much the same as everyone else. I have friends that use Schwab and they like them. Same deal where once things are setup there's no real need to work with them.
Unless there is some specific feature or service that only one has, just throw a dart. :)