I do not exactly know why the protocols are working on these layers. RIP being a very primitive protocol, designers would have considered UDP would be sufficient. Moreover all the reliability mechanisms should be incorporated in the routing protocol design (different timers in RIP).
IGRP, EIGRP and OSPF works on above IP Layer where the designers would have had more modular in designing specific protocol characteristics.
I think BGP being works over IP (considers IP reachability is present before it starts) would have chosen TCP as it already have reliable delivery model. Moreover BGP itself is heavily loaded by carrying full internet feed, so it makes sense to offload reliable mechanisms to TCP. But these are my guesses.
BGP and RIP works on Layer 7 as they are dependent on underlying layers to built peer connectivity.
Example: BGP overs TCP and port 179 , essentially leaving reliability, error correction etc to be handled by lower layers and BGP to do route exchange(which it is best at) . Simillarly RIP on port no. 520.
Wherelse, IGRP,EIGRP and OSPF works on multicast IP and hence works on layer 3.
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