You’ve summed it up yourself
The light ones are comfortable and all the rest of it and protect against trail rash and suchlike but the limited adjustment and coverage means they have to fit well to work properly (dainese trail skins TL 5400s)
The soft ones are pretty good I had an incident the other month and managed to take the skin off the outside of my right leg and bruise it. The skin was intact and unmarked where the knee pads were (661 Evo). Compared to hardshells they’re very light but finding some that fit can be tricky
The hard ones are really tough and secure if there’s a possibiity you’ll be stacking it big time and knees are involved I wouldn’t hesitate. The full coverage means they stay in place pretty good and although they appear bulky in practice it’s not a problem (Fox Launch/NP Critical/Scott Grenade)