I don't know of a key, but the three you mentioned are distinctly different.
Frontier is a small hybrid (40') with small leaves and burgundy fall color.
Liberty is a BRAND, created by individuals with private marketing interests that is not truly accepted as a resistant variety by the industry as a whole (It is DED susceptible, trust me).
Princeton is the closest to an American Elm and is not a hybrid, it a resistant cultivar.
...
Jefferson is a newer cultivar with high hopes. Interesting history:
http://en.wikipedia.org/wiki/Ulmus_americana_'Jefferson'
Pioneer is not totally resistant, and is a shorter, broader hybrid, not a true American Elm.
Prospector is similar to Pioneer in that it is smaller, and not an American.
Homestead much the same. Soft wooded, bad branching.
Valley Forge is an American that grows really fast and does not look much like the original. Develops poor unions and fails with consistency. Dirr has a photo of an entire field at Scmidt Nurseries growing like groundcover because they were not staked.
IMO Princeton is the best selection to replace the original.
There's a start!
-Tom