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Depends entirely on the situation.
Most field military shooters prefer a butt pack or sand sock whenever they can use one.
Using bipod on hard surfaces, particularly with heavy recoil calibers, can cause issues,
Bipods can 'Cantilever' from recoil and throw the shot.
As a military shooter, when Harris bipods became available, we used to 'Push' or 'Pull' on the legs to add/subtract elevation, the bipod equalivent of squeezing the sand sock...
Stiff little bipod legs have a tendency to bounce making it a little more difficult to get right back on target or see where the shot splashed.
It's up to you, some people don't want to cart around a bag/rest, others don't want a bipod hanging off the rifle.
In my experience, a SOFT bag or rest works better on hard surfaces, benches, rocks, etc.
While bipods work better on soft surfaces, dirt, sand, vegetation, sand bags, etc.
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