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I think my answer here: https://answers.ros.org/question/352771/which-ros2-launch-is-preferable-python-or-xml/ gives a good summary of what you mention.

XML is not currently usable in my opinion, so anything you teach them is going to be substantially limited and open to change dramatically in the immediate future. I think its worth teaching them the python3 API since that's more stable and if they need to actually use the skills you're teaching, that's what they're going to need to know (and what all of the code you see on 95% of github uses, so even just modifying files they need to know it).