I've had great success with Joomla. Just add the SEF patch and third party software SEF Advanced for SEO friendly URLs.
I'm not a big fan of Joomla for flexible, easy SEO. Most everything else is awesome in that CMS though! Waptap
I have a bit of trouble desigining decent looking templates for drupal but it does very well in the search engines. So well, in fact, that I will take the time to learn it better and ditch wordpress.
I found a place that has a solution to the e107 custom page naming issue! Been fighting with that and checking all these forums for a couple years now hoping for a fix. http://e107-seo-friendly-urls.blueprintacademy.org
I have only ever used WordPress, after having looked at both Joomla and Drupal (in particular) and finding them a little bit too much of a learning curve. Based on my experience WordPress SEO seems to be pretty good out of the box. There are also some great free SEO plugins out there that allow you to optimize your site for SEO even further. I have installed Wordpress SEO from Yoast and find it to be excellent.