Android: What's is there a difference between nesting a graph, including a graph and calling a graph with a global action?

Question

There are several ways of navigating from one navigation graph to another graph. From the top of my head:

1. use <include app:graph="@navigation/nav_graph_1"/> and have an action to that included graph like
   <action android:id="@+id/action_fragment_to_nav_graph_1" app:destination="@id/nav_graph_1" />
2. use a nested graph:

<navigation> 
  ... some <fragments/>
   <navigation>
    ...some other fragments... 
   </navigation> 
</navigation>

3. Use global actions

I'm having a hard time to figure out the differences between those methods (actually I don't see any obvious ones). Are there use cases where I should prefer one method over another?