A Visa or MC credit or debit card txn go via the Visa or MC networks.
An EFTPOS txn goes via the EFTPOS network, it's much cheaper.
In AU, the fees are regulated and must be disclosed to the user as an extra charge. Most businesses much prefer the EFTPOS network because it's much cheaper.
Until recently, the contactless environment didn't support EFTPOS, so it always used the Visa or MC networks. Same applies to Google and Apple Pay.