Two factors will have an impact on which water heater you choose, the space you have and your budget. When I replaced my water heater a couple of years ago I was limited by the space and had to use an expensive Raritan. If your space is more flexible, then there are other options, some more suited to a frugal sailor.
The heat exchanger is a nice option if time is spent away from the dock and on the hook. If shore power is always available, then it is not necessary. If you do go with the heat exchanger option, be sure to install a check valve on the cold water intake and an tempering valve on the outflow. This will help to prevent scalding. The water in the tank will reach the engine's operating temperature of about 160° F.
I can't speak to other brands, however, the Raritan is well insulated and water staying warm for up to 24 hours.