The relationship between humans and the various animal groups you mentioned can vary depending on the criteria used to assess similarity. However, based on the embryonic development similarities you've specified, amphibians would exhibit a more linear relationship to humans compared to birds, reptiles, or fish.
Amphibians, like humans, share certain developmental characteristics such as early-stage gill slits and a more similar skin structure than reptiles or birds. Although humans do not keep their tails, the embryological development is similar in the early stages. Additionally, amphibians and mammals (humans) are both part of the clade Tetrapoda, which includes all land vertebrates.
So, based on embryonic development and evolutionary lineage, humans exhibit the most linear relationship with amphibians. If you're looking for a straightforward answer based on the context you provided, it would be amphibians rather than birds.