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I have both, I think Ledger Nano S is the most streamline in consistency
Trezor i Like how I don't have to switch currencies on the hardware device itself.

I haven't tried keepkey, its big, and a bit too simplified,
I know it has Shapeshift, but Shapeshift fees are way too much for me to use anyways.

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I have the Ledger Nano S and it is a robust storage device.