I parking lot raced both rubber tire and foam tire F1 years ago. In general, the foam had more traction, but required more prep. than the rubber. Rubber was more resilient and versatile. I'd vote rubber for just tooling around and having fun.
Team Associated | Reedy | Airtronics
RC Excitement: Fitchburg, MA | RC Madness: Enfield, CT | Horsham RC