Phillips strips way, way easier than Torx. Stripping generally happens when a screwdriver cams out, or pops out of the screw. Here are some excerpts from Wikipedia of Torx vs Phillips.

The hexalobular socket screw drive, often referred to by the original proprietary brand name Torx ( /ˈtɔːrks/) or by the alternative generic name star drive, uses a star-shaped recess in the fastener with six rounded points. It was designed to permit increased torque transfer from the driver to the bit compared to other drive systems. The drive was developed in 1967[44] by Camcar Textron.[45] Torx is very popular in the automotive and electronics industries because of resistance to cam out, and extended bit life, as well as reduced operator fatigue by minimizing the need to bear down on the drive tool to prevent cam out.

And Philips on the other hand:

The Phillips screwdriver design has a tendency to cam out during operation due to angled contact surfaces which create an axial force pushing the driver out of the recess as torque is applied. Despite popular belief,[2] there is no clear evidence that this was a deliberate design feature. When the original patent application was filed in 1933, the inventors described the key objectives as providing a screw head recess that (a) may be produced by a simple punching operation and which (b) is adapted for firm engagement with a driving tool with "no tendency of the driver to cam out".

I'm not sure about Allen. It doesn't cam out very much, but it does still strip a lot easier than Torx. Probably due to the smaller contact points.

Yeah, it was made with torque in mind (like, it's in the name lol). For smaller screws using an impact, you can expect to break the screw before you strip the torx on top. And by smaller I don't mean tiny, more like M4, M5