I tried all three packages above and personally had the most success learning DiscreteEvents.jl. It includes a set of examples that you might find to be helpful:
One of the examples is based on the book Modeling and Simulation of Discrete-Event Systems. I am not familiar with the book, but it might be worth investigating.
(note SimJulia.jl and Simulate.jl don’t actually exist anymore, they have been renamed to the above packages)
Also note that the devs of ConcurrentSim.jl have said that there is development time that is going to be spent on it due to recent funding, so I guess even if the docs aren’t the best now they can definitely improve in the future if you provide adequate feedback. But in general the devs have been very responsive so I wouldn’t shy away from it.