TL;DR:
Overall, for the same visual quality, JPEG XL is ~17% smaller than AVIF, which is ~17% smaller than WebP, which is ~17% smaller than JPEG.
(moz)JPEG vs WebP vs (Kakadu) JPEG 2000 vs (libaom) AVIF vs (libjxl) JPEG XL. Very large subjective experiment performed by
@cloudinary. Interesting to see how things differ between different kinds of images!