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Hi there,
I think there a plenty of blog posts regarding your question. It's just too hard to point them out all on one question. Maybe checkout this blog post: https://roboticsbackend.com/ros1-vs-ros2-practical-overview/
And for your question in particular this section: https://roboticsbackend.com/ros1-vs-ros2-practical-overview/#Multiple_nodes_in_the_same_executable_-_ROS2_Components
Asking me personally: Go with ROS2. It has a few advantages regarding productive use cases and especially the underlying network stack changed completly (standard in ROS2 is DDS which is an established industrial protocol)
Have a great day!
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