Just FYI... ABU Simple Ultra/PeekABU are somewhat smaller than their main products.
When going by the published size range, avoid going towards the extreme edge. You already have the right idea: go for the size where you fit near the middle of the range. For example if small says fits 24 to 32 inch waist, it's not really going to fit 32" well at all. You'll barely get the tapes on. Now, if medium says fits 28 to 36 and you're a 32, then you fall right in the middle and it should fit decently.
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Crinklz Kat's post in Diaper Sizing? was marked as the answer