If you want a self defense martial art, i think the best of those would be Aikido.
Judo is not a very good self defense martial art because it teaches only throws and ground fighting, and in a multiple attacker scenario is not very good move to take one of them on the ground because you will get pounded by the others.
I choose aikido because i like its standing joint locking techniques and pressure point strikes that are very effective in a street fight.
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The harder you train, the harder it is to surrender.