FrameLayout is for stacked designs, so we can compare Linear and RelativeLayouts. If your design does not need inner layouts as you said if there is only one textview, then LinearLayout is more performant. But for complex designs, when you use only LinearLayout, you will need to use lots of nested layouts. In that case, RelativeLayout is preferable, because it could be designed with less nested layouts.
But even if you use RelativeLayout, at some very complex designs, you can still need to use nested layouts or using RelativeLayout could be complicated at first. For that kind of situations, there is new layout in the family, ConstraintLayout. You can try it with Android Studio 2.2.