Yes, I have experience with all 3.
First, Norfolks and Norwichs used to come from the same litters, one ears up and one ears down. They used to be the same but not really anymore since they were separated.
I find Norfolks to be sweeter. Sort of a terrier light. They are still terriers, but not super high prey drive like others but they are not toy dogs either. They get along with many different breeds.
Norwichs I find are more feistier with a bit more attitude. But again not one of the super high prey drive terriers.
Both of those terriers will still get the mouse, but not on a scale that other terriers do. They are also not built to be a running partner with super short legs.
Border Terriers are awesome. They are bred to get along well with many other breeds, can be trained to do a variety of different events with a bit less of a single minded demanding personality as the Parsons I live with. They are still drivey, and super fun and massively versatile and very willing.
With all this said, I have seen some that are outside the norm. But my handler friend breeds and shows Norfolks, Norwichs and Borders so I have been around them all and traveled with all 3. They all can be put out in exercise pens with other show dogs and get along very well with each other even if they just met.
Norfolks and Borders are both on my list of terriers I must own.