I found another analysis “ETFs or futures?” by Invesco with data as at 31 December 2020 (there where also older versions). What knowing the right search term (“ETF vs Futures”) does for finding stuff…
They have analyzed following indices from 2012 to 2020:
- S&P 500
- FTSE 100
- MSCI World
- MSCI Europe
- STOXX Europe 600
- Euro STOXX 50
- MSCI Emerging Markets
In comparison to the paper provided by CME Group (which operates financial derivatives exchanges), the futures cost in the analysis by Invesco (which manages ETfs) is higher, but much more in line with my own calculations.
Their actual comparison to ETFs is of course apples to oranges, too. In their dedicated section about how they compare ETFs and futures (page 12) they discuss their method. They calculate on the basis of a fully funded investor (so leverage = 1x). Under this conditions Futures still pay the risk mark up on the risk free rate, but ETFs don’t, since no money is actually borrowed (= your borrow money to buy ETFs, but your lender is yourself).