Personally I like the German model best. Basic health insurance for every citizen is guaranteed and the rate for it adjusts based on income level. Then there is option for people to purchase supplemental insurance in case they want specialized care, don’t trust the federal system, etc.
I have a number of German friends/colleagues who have been generally happy with this approach. Everyone is covered without egregious costs, it is much cheaper to administer than the US system, the wait times are not extreme (at least where my colleagues are in Frankfurt/Berlin) and it allows people to have some flexibility on what plans they want based on what they decide to pay.