If I had my choice of roof, it would be a one piece aluminum roof that is "cupped" so it extends a few inches down the sides. After that, a fiberglass roof. Both of those tend to have fewer seams, and are more resistant to punctures. Of course, aluminum is more vulnerable to hail damage, but in general, the rigs I see that use aluminum roofs tend to last quite a long time, and if they leak, it is due to a hole due to some vent or skylight.
I wouldn't factor out rubber roofed rigs out completely, if the price is right... but they do take more time to inspect and reseal. EPDM roofs are naturally black, so they will "weep" and leave streaks in the rain, while TPO roofs are white.
Of course, my absolute favorite roof would be an aluminum or fiberglass roof, then have that covered by an elastomer spray, so there are no seams whatsoever on the top, even around vents and fittings. A twig might puncture the elastomer, but most likely wouldn't get through the harder layer underneath.