The main differences are because of how they are used or how formal or old-fashioned they are.
rebuke - very formal and not used much. Mainly used to critisize someone's behaviour or actions.
reprimand - this is formal and often used in law. Reprimand is used often to discuss telling someone off like a judge or a teacher.
chide - again, it's more about telling someone off than critisizing.
condemn - this is more about disliking behaviour. For example, in the UK, we condemn theft.
Chide is very old-fashioned and is not used much in