Jolt is essentially the same physics engine that was used in the Horizon games, the performance there should be able to get quite good.

If you're making any kind of even slightly ambitious 3d game you probably need to be using gdextensions (ie writing custom engine-extensions in C++). I'll add that the engine source is very accessible. It's deliberately pretty bare C++, so if you have a decent amount of C# / C experience you should be able to find your way around it pretty easily.

Unity is a bit better when it comes to performance foot-guns and messiness (and in some ways much worse). Unreal seems to be pretty frictionless for getting something working that looks impressive, but if you're not very experienced performance is going to be a big issue there too (there seem to be very few games made in Unreal that run well on mediocre / older hardware).

Godot's a mess in the sense that it is trying to expand in every direction at once right now. I think it'll be in a pretty different state in 2-3 years.