Pre Z (Early DB), I'd prefer Yamcha. He had an attitude of going to help Goku, acknowledging Goku as better than him and a funny yet commited to martial arts side that I liked more than Ten's more stoic and fully dedicated attitude, though when I watched way back, Ten definitely had a cooler aura as a guy you'd like to see fighting the strongest ones in part 1.
I wasn't too fond of Yamcha on Z, he seemed more sidelined, appeared more arrogant and yet more cowardly in the sense of being the first one to tell to run or that the Trunks' story seemed too farfetched, using DBs for his girlfriend... it seems he lost that serious commited charisma that balanced his personality well in part 1. As for Ten, he didn't shine too much on Z either, but he remained faithful to his commitment to martial arts and being the lone wolf type, saying after the Cell arc that they'd likely neve meet again, which remained true as far as the original series, no Super, goes. He had some cool entrances too like vs Bootenks.