I also have some problems with humble so I would recommend ROS 2 foxy. The nav2 stack there should work out-of-the-box (we did not have any problems with that on the turtlebot 3), it is stable but also not that old.

There is no "best" there's different options for different users. Please don't ask subjective questions or rephrase in a way that's productive and answerable.

You are right. I'll rephrase it. I'm a beginner in ros and nav and im using Raspberry Pi 4, IMU sensor and RPLidar. Is there a good pathway for me to choose that i can achieve my end result without running into much trouble and possibly be easier for me to do it. Should i choose ros1 or ros 2?

Alejandro, I'll give you my experience with ROS on a raspberry pi. This was ROS on a Pi3 or Pi3b several years ago. I don't remember which version. I tried 6 ways through Sunday and could not get it installed. I eventually however did find, online, an ISO image that included a headless install of ubuntu and ROS for that version of RPi. I was able to load that image and have it work. I suggest you see if you can find an image from someone that has managed to get it done. If you ever manage to get it working, you would do the hobby crowd a service by posting it online.

https://github.com/ros-realtime/ros-realtime-rpi4-image

https://vietanh.dev/blog/2021-08-17-install-ros2-pi4

you're welcome