I am definitely also on team firm/crispy. When it's just some soggy cubes I'm not very happy about it.
Also a big part for making it really great is that often on the day before I already slice it into cubes and then pre-marinate them and leave them over night.
Helps to tune the flavor of the tofu more to what you want to make with it.
i think it is incredible how different cooking techniques can completely change tofu and you can do basically anything with it.
i've been making it myself for a couple years and what i make now is worlds better than when i started. recently i had a japanese bbq tofu dish at a restaurant and i legitimately do not think i am capable of preparing tofu like that myself - so cool to know that there is always new ways to enjoy tofu.