Dura Ace mechs (7700) had excellent bearings in the pulleys, the top ones of which had a clever design to compensate for misalignment without side loading . The equivalent Campag Record (their first 10 speed version) was a great deal more expensive and offered bushings. That, if nothing else, suggests Shimano are better at what they do than their cousins from Vicenza.
If Ultegra, or any other S-mech had that feature, that'd be the model to buy. Sealed bearings, by the way, probably don't cut it - tiny misalignments create significant side loads which translates to signficantly increased friction. I've read 50 different theories on the total friction in a derailleur system and -from those- accepted 50 different ways of figuring out how to go faster. Campagnolo don't figure in any of the ways I'd try to go faster, although going with them would certainly lighten the wallet.