I would avoid making a driver decision on this basis for normal domestic applications. Some have had problems with foam in the past in certain areas, however many such as Adire, claim that foam surrounds are now vastly superior to what they were in the past.
It appears that foam is better from a performance point of view, although rubber is considered more durable.
Most of us here have an attention span much shorter than the life of a driver. We want to upgrade after 5% of its life has been lived!