The paper "Challenges and pitfalls while emulating six current Icelandic household routers" is available and it is a very interesting read ... Check it out here https://skemman.is/handle/1946/50456?locale=en
FACT, QEMU, EMUX, Qiling, Firmadyne, FAT, FirmAE, Pandawan, and EMBA were evaluated based on how easy they were to set up and how well they managed to emulate our firmware images. The most effective tool for both analysis and emulation is EMBA.