I haven't been to Antwerp yet, but in the last month I visited Brussels, Bruges and Ghent. My policy is to stay in the city with the most sightseeing of interest to me but not to plan two day-trips to the same city. There was enough of interest to me that I decided to stay in all three cities, but I had to contort my itinerary to avoid an expensive hotel stay during the Ghent Festival.
In Bruges you're walking past historic buildings much of the way from the station to the center of the old town. However, you are likely to encounter multipIe tour groups following pennant-waving guides along the way. If you stay in Bruges, you may need dinner reservations. However,
by that time of the day, the sidewalks are devoid of tour groups.
Ghent-St. Peters is a long way from the historic center. Part of that walk is through a rather unattractive commercial area. Just east of the train station (not on the way to the historic center) is some stunning Art Nouveau architecture.
Brussels has multiple train stations, but Brussels Central is the most centrally located. However, the city's major sites are not concentrated in a single area. Construction work outside Central Station has messed up a bunch of bus stops and also affected pedestrian paths (the latter primarily to the northeast). And that station is annoying if you are deaing with luggage or have mobility issues. It's hard to find an elevator or fully useful escalator. Signage is not good. I expected better from the capital of Belgium. Really liked the city; hated every trip through Central Station.
In Europe there always seems to be good transportation heading in all directions from the main train station. Frequency of that transportation is key, as is a willingness to pay the price for a hotel in a practical location, given your personal sightseeing plans. Checking out transit times to your points of interest is a good idea. When it came time to plan my movement around Brussels (often to odd locations not of interest to the typical US tourist), I found coverng relatively short distances took longer than I would have guessed. I hate standing around at bus stops and transfer points, so I ended up walking rather than riding most of the time.