24th, for sure.
We didn't see enough of the 22nd century to make a fair opinion (only four seasons).
The 23rd C has a great design aesthetic; and has a less-PC, 'shoot first and ask questions later' approach to solving problems, but again, we only have three seasons, and 6 (soon to be seven) movies set in that time period.
With the 24th, we have 21 seasons and four movies. So it is definitely the most familiar era to us. It just felt more 'epic' to me.