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Arthur. It's the only one that sounds like an actual person's name.
Galahad you never hear unless somebody's being sarcastic about some guy's lack of chivalry. Kinda like Einstein is used sarcastically when somebody says or does something dumb.
Lancelot doesn't sound like a real person either, and it shortens to Lance, which makes me think of a stupid surfer dude who has been in the water so long his brains shrunk.

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Before you criticize a man, walk a mile in his shoes. That way, when you criticize him, you're a mile away and you have his shoes!
Steve Martin