I'd use "taburete", since if you can sit (mostly comfortably) on it.
I only say "reposapiés" when it's only built to rest your feet on; that would be too low or too small to sit on.
A "banqueta", in Mexico, it's the street curb.
I'm not sure anyone would use this word for a piece of furniture.
After googling it, I'd call that a "banco".
And I've never heard the word "escabel". Maybe someone older would have known what it is before googling it.
Instead, I would say "banquito".
