My experience is mainly with 1) Fanuc, and 2) ABB, though with a fair amount of Adept, Staubli, and Epson in the more distant past.
I'll say that you should be aware that Kuka is now Chinese owned, so if you are looking at a Fanuc alternative for a specific reason, then company ownership might play into it.
Between Fanuc and ABB, each has their advantages. I'm still learning some of the basics on ABB, but their current offering is very nice and has many things built in that are expensive add-ons in Fanuc.
Fanuc's DCS is still King, though. BUT ABB just released "Collision Avoidance" which adds to their own DCS-like capabilities. It is, however, more like an advanced Fanuc Space Check or Interference Check, and may be missing features that those Fanuc options currently have.
As much as I've personally complained to coworkers about Fanuc documentation, I find ABBs to be worse, with part of that being just getting your hands on the latest, applicable documentation (Fanuc is MUCH better in this area), and part of it being figuring out which similarly named manual is applicable to your need (Fanuc is much better these days, again). Also, I find the lack of helpful screenshots, diagrams, or drawings in ABB to be very significant. Simply 'describing' something without showing an image is pretty poor for "world-class" documentation. I also found their electrical diagrams very lacking. Their actual schematics are complete, but they should show examples of hooking a controller up in various safety configurations, not just saying "these are our safety terminals here." Okay. There's a ton of them. How might I use them in different situations?
Programming in ABB is much better than in Fanuc, even when you go all out in Fanuc and pay for the PC Interface and a license of RoboGUIDE. Fanuc's RoboGUIDE/Handling PRO software does give you offline simulated cell capability, yes, but it barely brings your physical robot programming experience up to the level of ABB's free RobotStudio option. I think for full offline simulation capability, both are roughly equal and priced the same, I think. But one thing to consider is that ABB gives you one year of full simulation capability with the purchase of a controller. You'll pay full price for a year of RoboGUIDE, plus need an $option on the Fanuc controller for that experience on a Fanuc robot. Personally, I just get a Fanuc with the $500 Ascii upload option and use a text editor with FTP uploading. Adequate and cheaper.
I'd personally consider ABB a very good option to Fanuc (in ALL 5 of your categories), whether it is as future replacement, or to keep Fanuc 'honest.'