The condition (and planning) of Motorways in France and Holland are much better than Germany, the condition of motorways in Belgium is really shocking, I’d avoid if at all possible. (This is a trip I have to make every time I want to go back to the UK and it really sucks).
There are tolls on most french motorways though, whereas Germany and Begium are free, so you’ll save a bit of cash if you drive back through Germany, google maps says it’s 1/2 hour more, but you’ll pass a lot more major cities than if you go through France, so the congestion might be worse.
In my experience the E40 through Belgium is particularly bad, and if you wanted to do the German/Belgium route, I’d go up to Venlo/Eindhoven and across, that way you get to go through less of Belgium.
I hate Belgium.