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The main differences are in the formality/informality of these words, not really in their meanings. They all mean "to roam about (aimlessly)" and I will mention the small difference in nuance later on. 「ぶらつく」 and 「うろつく」 are more informal than 「さまよう」. The existence of the onomatopoeias 「ぶらぶら」 and 「うろうろ」 should tell you something about the colloquiality of ...
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