I like the disclaimer about having them separately... totally made me lol.
I like Ezlo the best. Tatl was a snot for too long (though she was cool towards the end,) Navi stated the obvious too much, and I have no personal experience with Midna. Ezlo was just a win little Minish hat. He was funny, and also helpful. His ridiculous squawk just made my day whenever I heard it. ^^
For nostalgia purposes, Navi, even though she got annoying as hell..."Hey! Listen!", oh god. The problem with her, though, is that you never really see her. Yea, you see a glowing blue ball, but you don't actually see a physical being, which is kind of what drew me away from really liking her as a character.
I'm not too into the wise-guy characters either, like Tatl or Midna. I think I like The King of Red Lions the most honestly, I can't really explain why though.
I would have to say The King of Red Lions. Not only did he help you travel, but he had the most epic "HEY!" whenever he used to rock-phone thing. My friend and I actually made a parody of the "Gary come home" song from Spongebob into "Boatie come home".
If anyone wants a sick, hand-made Dark-Link Minecraft skin, gimme a shout.
I really liked Navi, unlike, pretty much, the entire world. She was a good balance between having a solo adventure and having an adventure with an amigo (which I hate in videogames). I liked her simple personality and I only found her annoying when I was off doing sidequests and she was like "Hey, what if we checked out the blah blah Sheik told us about?". But it didn't really bother me. She was fun and she was nice.
I really liked Midna for a while. Her backstory was really interesting, but my favorite is Navi. She may have been annoying, but she was ****ing Navi. She was an amazing help when I had no idea how to kill an enemy.