N2O4 freezing point: -11.2 C. Boiling: +21 C. Density: 1.45
Aerozine-50 freezing point: -7 C. Boiling: +70 C. Density: 0.903
UDMH freezing point: -57 C. Boiling: +64 C. Density: 0.79
MMH freezing point: -52 C. Boiling: +91 C. Density: 0.875.
N2H4 freezing point: +2 C. Boiling: +114 C. Density: 1.021
As you can see, none of the hydrazines combine the lowest freezing point with the highest density, so you have to compromise. AZ-50 is one such compromise, and it's stable enough to be used in regenerative cooling while straight hydrazine is not.
MMH provides a much lower freezing point than AZ-50 at only a small decrease in density. This is probably what makes it popular in maneuvering thrusters because the tanks are small anyway. My guess is that large engines use AZ-50 because the slightly higher density gives smaller tanks, and it's easier to control the temperature of a single very large tank than a bunch of small ones on different spacecraft surfaces.