Firstly, stop stressing! The fact that you can be 'pooled' into a different college to the one you applied if you are good enough to get into Oxford but not that particular college means that thinking about college competitiveness isn't all that important. In theory, applying to a competitive college would not affect your chances of getting into Oxford.
On the other hand, applying to Brasenose means you have a high chance of being pooled to a college you did not apply to, which is not ideal, so perhaps there is some logic in avoiding there. I would not be put off by this Queens scholarship - i don't think it will make much difference.
Aside from that, virtually all of the colleges have a 'rich history', two of the biggest exceptions being LMH and St Hilda's (don't get me wrong, they are both very nice and LMH in particular has very nice grounds, but if you are looking for history they are not the places to apply to!). If you want, you have scope to widen your list greatly. Claimants to the oldest college are University college, Merton, and Balliol. St Edmund Hall has an interesting history as a PPH, although has lots of modern buildings now. St Johns, Lincoln, Exeter, Jesus, Queens, ChCh and CCC all have lots of history. I could name more if you wanted.
I'd start narrowing down colleges based on other factors, if you want to put effort into this decision. Look for which ones offer 3 years accommodation, and then where that accommodation is (as some colleges send their second years a long way away), look at prices, look at the grounds on the virtual tour
. Look at college size, etc.
Or just pick Queens. Its a lovely college and would save you a lot of effort!