Verbs in the simple present vs. perfect present

Question

Please help me and tell me, which one of these sentences should I use?

1. Until they have prepared our room, we will wait in the hotel lobby.
2. Until they prepare our room, we will wait in the hotel lobby.

Or should those be written the other way around?

3. We will wait in the hotel lobby until they have prepared our room.
4. We will wait in the hotel lobby until they prepare our room.
5. We will wait in the hotel lobby while they prepare our room.