The OP asks:
[[ Is anyone running an SSD (Crucial, Samsung) via USB 3 on their iMac as their primary boot drive? How do you find it? ]]
I have a late-2012 Mini, not an iMac.
But I've booted and run the Mini for a year and a half now via USB3, using an SSD in a USB3/SATA docking station.
It boots and runs fine. VERY fast.
[[ How do you compare it to a SATA-connected SSD internally? ]]
The Mini has only an HDD internally, so I can't offer a comparison. But except for a slightly longer boot time, there won't be any noticeable speed difference.
My suggestion is to try it.
I think you'll like it.