Hi David,
In all three URLs I would like to go with 3 but 2 is also fine.
One thing I would like to point out here that Optimizing your URLs—by avoiding extraneous characters, using dashes, and adding appropriate keywords is absolutely fine However, there’s no need to focus too much of your marketing efforts on your URL structure because it doesn’t impact rankings as much as backlinks or content quality.
Hope this helps.
Thanks