You do not mention your location or zone. Mine is 7, so I will tell you what happens here. Lamium maculatum never gets dense for me and is best in the cool Spring and Fall.
I never suceeded with pachysandra but it is fabulous at Winterthur and a local nursery. I tried only once and did not care enough to spend again. I often try 3x before giving up. Ivy is indestructible and will climb trees. I would never plant it. Vinca is taking my place over, has only been threatened occasionally by drought with my sandy soil. I wish I never planted it. Sounds like you might like Vinca.

Thanks for the advice. I live in zone 6,just north of you in Pa. I was leaning towards vinca so might go with that. It's pretty invasive I know but we will be mowing around it so it shouldn't be too big a problem.

I have an embankment behind my house and I am looking for a ground cover with a strong enough root structure to keep the soil from eroding. Thanks for your suggestions.