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In my opinion Verizon has the best voice network followed by AT&T. Keep in mind I don't spend a lot of time in remote highly rural locations.

Sprint has decent coverage in some parts of the country but not in others.

I have a personal phone on Verizon and a business phone on Sprint and there is no comparison in terms of coverage. The Verizon phone always has signal, always.

That being said, both Verizon and AT&T will charge you for the quality of their networks so in the end it will come down to how important good coverage is vs how much you are willing to pay.