It has to be Bill Clinton, since he literally defeated an incumbent who had massive foreign policy wins happen during their Presidency, and by a not ultra-close margin, and with a 3rd party that took tons of votes that mostly would have went to him in a 2 way race as well.
Joe Biden on the other hand ran the worst campaign of these 4, almost blowing an election during a pandemic that the incumbent mismanaged to the result of over a million deaths and massive economic destruction, after said incumbent already had leagues of scandals and issues through their Presidency and before it that would have mattered regardless of what the fundamentals were.
Can you really call Biden's campaign worse than Carter's, who nearly blew a 30-point lead and who ended up with closer margins in both the popular vote and the electoral vote?
To be fair, some of that can be credited to Ford running a genuinely strong campaign and successfully distancing himself from Nixon.
But yes, Carter's campaign came closer to losing after starting from a stronger position, so it seems dubious at best to say Biden's campaign was worse.