It depends on tire size engine torque/power curves, transmission gear ratios, your specific use....weight/desired towing speeds/hills. Our Peter built has 3.43 final drives and tows over 100,000 lbs.
4.10 have 15 percent greater torque multiplication than 3.55. Which one is better for you depends on the engine, tire size, and what speed you intend to drive.
I've been told that with the new 6 speed transmissions that gear ratio is not as important as in the past. That said I think the 4:10 is best for towing (that's what I have) but if given a choice I would go with 3:73. Its right in the middle.