The AR-15 Ammo FAQ at
www.ammo-oracle.com has some excellent information on maximum effective range for M193 & M855 from the different length barrels.
For target shooting with iron sights, the 20" is theoretically more accurate than the 16" because of the longer sight radius. With optics it doesn't matter.
If you're going to seriously target shoot, or shoot at long ranges (300+ yards) then I'd suggest the 20" barrel. For everything else, I'd probably get a 16" barrel. But try out a few of each if you can, and take the one that that feels best. (For example, IMHO the short handguards on the 16" are too short so I'd want the mid-length or 20" instead. YMMV)
As far as manufacturer, figure out which configuration and features you want, then look for that. Bushmaster is probably the "best" for a general-purpose AR based on features like chrome-lined barrels and 5.56mm chambers being standard. Armalite and RRA are almost as good, with RRA the best value. DPMS & Oly are OK too.