Any of them are good for pre-med prep. All four are of similar caliber and would be considered peer schools. Many students compare all four and end up with whatever is the best feel for them (or best finances). Differences are location and type of campus (look).
Pre-health is not really a major. It’s a set of courses. If heading into a medical field, pick any major you like and take those courses.
My middle son is finishing up at U Rochester this year (loved it) and in the past has posted more details himself on U Rochester’s College Confidential page (under my name, but letting folks know it’s his writing) if you want to look at some of those threads.
He never compared Tufts and only briefly looked at Brandeis - not long enough to visit. Emory turned him off for other personal reasons. Therefore, I can’t really compare those schools for you. I can just tell you he’s loved URoc and many students compare between those four (and Case Western + Pitt).