I'll add my two cents regarding Unity. I haven't worked with Torque and haven't even heard of Shiva until now (it looks interesting).
My (somewhat limited) experience with game development is that above all, there is a huge amount of learning involved with the game development world and you really need to choose carefully where you spend your time.
You're on the right track looking at comprehensive game engines that include middleware tools. If you really want to make games (and not game engines), you'll want to focus exclusively on generating assets and game logic.
I have worked with XNA and can say that, by itself, it doesn't provide any of the middleware tools you'd need to build a complete game.
As for Unity Vs Torque, I choose unity because of their strong focus on C# (which will only grow more central in their upcoming release). Furthermore, the two communities are vastly different. Torque developers take a lot of pride in the fact the Torque includes the source. It is regarded as more difficult to work with, but will allow you to learn about the core code. Unity is closed source, has an active community and focuses on game development. Their community's attitude is that they are not there to rewrite game engines and that if there is a bug, the Unity team can and will solve it faster and better (they do a great and speedy job of resolving bugs).
My coding philosophy is more to the second. I want to make a game, not a game engine and I prefer a comprehensive tool rather than multiple tools that you have to tie together. Unity is very professional and you can get up to speed very quickly. I'm having a blast developing in it and have gotten concept work together very quickly.
Also, you'll need to learn at least basic 3d modeling and animating. At the very least, you should be able to block out some characters and find an artist to make the real versions later. I strongly recommend Digital-Tutors great series on creating Next-Gen game characters in Maya and ZBrush. Its a series (you don't need the XNA part).
Best of luck. Above all else, make a specific plan and stick with it.