I can't decide. Each of those arts have elements that make them diverse, but I don't think there is one ultimate kicking art.
Tae Kwon Do has great kicks that can come at extreme heights, and speeds. It is not straightforward like Muay Thai, but it also isn't extremely unpredictable like Capoeira.
Capoeira is filled with malandragem (The art of trickery) and cunning. Capoeiristas learn great timing when armed against opponent. This coupled with malandragem and cunning, and the natural ability for them to react in angles and positions that are uncommon in other arts make this effective.
Muay Thai makes your legs into great weapon with your hands. Analagous to the uncommon positions of Capoeira, Muay Thai teaches one how to effectively use almost their entire leg as an advantage.
Savate kicking has it's roots in Muay Thai, but the kicks are very graceful, and the foot is the major part of the leg used.
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