It definitely depends on your use case, so it's hard to tell what's better for you. HAProxy is solid and doesn't take a long time to get started.
At the same time, some of the HAProxy 2.0 features have already been available in Envoy and tested in production, at scale (if HAProxy provided those features, there wouldn't be a big need for Envoy). For example, Envoy is pretty extensible, has good performance and has good support for dynamic cert management (including service-to-service mutual TLS).
At the same time, some of the HAProxy 2.0 features have already been available in Envoy and tested in production, at scale (if HAProxy provided those features, there wouldn't be a big need for Envoy). For example, Envoy is pretty extensible, has good performance and has good support for dynamic cert management (including service-to-service mutual TLS).