I’ve done both and found the GPG route marginally more reliable but YMMV. You might run in to fewer issues if you’re not on macOS; one example of a problematic

I’ve done both and found the GPG route marginally more reliable but YMMV. You might run in to fewer issues if you’re not on macOS; one example of a problematic interaction is that the official OpenSC installer package installs a tokend plugin that grabs the card as soon as you plug it in; but gpg wants to open it in exclusive mode even though it really only needs the OpenPGP applet, not the PIV applet. (I’m happy to accept that it’s GPG behaving badly here; the bottom line is just that if you want to use your card for and GPG and SSH and apparently TLS, gpg might be easier to get working than trying to use gpg + anything else. FWIW I hear gpgtools (the Mac distribution) merged a patch that fixed that behavior.)