But, to answer the question directly: This is highly variable with a large number of possibilities and circumstances, but if I had to pick a method of brewing 5 gallon batches and it could be done in a clean, stream-lined fashion, I would pick BIAB. I like the idea of minimal footprint, minimal equipment, minimal cleaning, minimal everything. I like the philosophy of minimalistic and multi-purpose.
However, my brewing situation and location dictates that I need to work cleanly, keep aesthetics in high regard, and minimize physical exertion on my lower back, and I don't feel that I could accomplish these things with BIAB. Therefore, I went with the batch sparging method for 5 gallon batches, and because my experience has worked out so well I've never bothered with continuous sparging - although I can see it's benefits in some aspects of brewing. If I were dealing with 10 gallon batches I would opt for continuous sparging and a different brewing location.