Help choosing the best lizard for me?

I'm hoping to get a lizard within the next few months, but I'm not sure which would be the best match. I have a redfoot tortoise, blood python, and rainbow boa, so I'm no stranger to very specific reptile care or building large custom enclosures, so neither of those things are an issue. I want an animal that is generally docile, some taming is fine but not months/years of taming. Something that doesn't mind being handled, or just generally hanging out with you in your lap, arm, shoulder, etc. And I would prefer a medium to large lizard. Any advice is appreciated, I've been researching myself but there's so much (sometimes conflicting) info. The species I've been reading about are: beardies, iguanas, uros, tegus, and water dragons.