HDMI is the only option to get the full resolution. S-video is pretty much limited to "Standard Definition" (or what was called High Definition television until they introduced High Definition TV, I know, it's confusing...). VGA can go fairly high, but the processing on the TV can vary.
Also, for reference, the order of preference, from least to greatest for Television display, at least IMO:
RF(coax)->Composite->S-Video->RGB Component->SCART->VGA->HDMI