In 2019, CryFS and gocryptfs are the best candidates in my opinion. Both were designed for the Cloud, are actively developed, and have no known security issues.
Their design differs, which has pros and cons:
CryFs hides meta-data (e.g., file sizes, directory structures), which is a nice property. To achieve it, CryFs stores all files and directory information in fixed size blocks, which comes with a performance cost.
In contrast, gocrytfs is closer to the design of EncFs (for each plain text file, there is one encrypted file). It is primarily concerned about the confidentiality of the file content and does not have such strong protection against leaking meta information. Like EncFs, it also supports reverse mode, which is useful for encrypted backups.
Overall, the design of CryFs has the edge in terms of confidentiality and tamper resistance. On the other hand, gocrypts has practical advantages (performance, support for reverse mode).
Both systems are relatively new. In terms of transparency, both are open source projects. gocryptfs had an independent security audit in 2017. CryFs did not have such an audit, but the design has been developed and proven in a master thesis and a paper has been published.
What about the others?
EncFS is discouraged because of the unresolved security issues. It is unsafe if the attacker gets access to previous versions of files (which will be the case when you store data on the Cloud). Also it leaks meta information like file sizes. There is a thread about the plans for version 2, but there are no signs that it will happen in the near future. The original EncFs developer has recommended gocryptfs.
eCryptfs has seen a lack of support recently. In Ubuntu, the installer no longer support ecryptfs encrypted /home directories. Instead they recommend full disk encryption based on LUKS. In addition, eCryptFs has been designed for local disks, not Cloud storage, so I would not recommend it.
VeraCrypt (successor of TrueCrypt) has a good reputation from a security standpoint, but it is not Cloud friendly, as everything is stored in one big file. That will make syncing slow. However, on a local filesystem, this is no concern, which makes it an excellent candidate there.
There is a nice comparison of all these tools on the CryFs homepage (looking at core features).
Similarly, there is also an extensive comparison of those four plus cryptomator and securefs on the gocryptfs documentation (looking at technical specs, performance, compatibility etc.).