These three words are very similar in meaning, and to be honest, I rarely hear any of them in everyday, spoken English. But it comes down to what you are describing by each of the three words. Innate usually describes an ability of a person. You might hear: “She has the innate ability to learn languages quickly and easily.” Intrinsic usually describes describes the value of something. You might hear: “Even though she doesn’t earn much money as a teacher, the intrinsic value of her job is extraordinary.” Inherent usually describes a quality or component of a thing, not a person. You might hear: “The possibility of severe injury or death is an inherent risk in skydiving.” Hope this helps!