Uster and Baden both have a hospital.

Dübendorf doesn't. But i guess for all intents and purposes Dübendorf is an extension of Zürich that just remained an independent Gemeinde by a fluke of history. If people in Dübendorf say I'm going to town, they probably mean Zürich and not the shops in Dübendorf. In Uster you might have to ask twice what they mean because it might be 50/50 and in Baden they probably mean Baden.

So the main difference between these towns in my view as how self contained they are, not just functionally but in people's minds and outlook. Maybe as a young family you might like a smaller, more self contained Gemeinde.

But if you're actually working in Zürich and want to avoid too much of a commute, the reverse is probably true in terms of time and difficulty of getting into Zürich.