Welcome to the site!
I'd always do sand again. Been using gravel for many years, and you can vacuum as much as you want, there will still be some waste in there (which isn't all that bad normally but alone the work). To me, sand is way easier to clean since the waste stays on the surface where it gets sucked into the filter or you can just vacuum it off carefully by moving the hose over it.
Heard that as well about sand damaging the filter but no problems here so far. I have internal filters and soon going for an eheim canister as well, and not being afraid

You just gotta make sure the intake is not too close to the sand of course.
Is a matter of taste as well, I personally don't like bare bottom tanks really, and thinking with substrate the fish can do their natural digging.