I think depends on what is your priority. Put aside which one will max your earning. You have different targets:
1) Keep in EPF and hope the EPF keep performing and at the end you gain more interest. However, you cannot shorten your loan
2) Withdraw and pay a lump sum after accumulate certain amount thus shortened your loan period. However, you need to keep up with same monthly payment.
3) Withdraw and pay a lump sum after accumulate certain amount but maintain loan period thus lowering monthly payment. This will easy your money constrain should inflation rises faster than your income
Third may sounds good for having more cash on hand, but people tend to spend on unnecessary thing if not having containt as in First and second option.
Between 1 and 2, I think 1st one is better because your saving increase exponentially, not linearly.