I've heard bad things about Bosch. Zero personal experience with them, but I've been disappointed in other Bosch products and Bosch-owned companies (OTC Tools, for example), so I avoid them like the Plague.
No real opinion on other brands. I'm in the process of cramming four sensors into my '97; I bought Densos this time.
I've used Delco O2 sensors and been satisfied. Same with NGK.
The "speed" of the O2 sensor probably has more to do with it's age and mileage than with the brand. Kinda like batteries--Bunny or Coppertop, doesn't make any difference, it's the base chemistry that sets batteries apart (zinc-carbon, "alkaline", and the newer, more-expensive formulations) not the manfuacturer.