I voted "Kneeling", assuming that would include the use of a bench.
I've done quite a bit of running over the years, carrying about 25-30 pounds more than I should and that has resulted in some fairly substantial calf muscles...to say nothing of the fragility of the knee joints! I used half-lotus for a few months, but would have consistent problems with knee pain, numbness, legs slipping out of position, etc after 20 minutes or so. Within a week of building my bench, I was comfortably up to 45 minutes with little pain and now, a bit over a year later, 45 minutes is generally pain-free and, depending on what the mind is doing, over an hour is now very do-able with minimal discomfort.
I've tried a chair a couple of times and found the center of gravity too high for my liking. While the bench is not as stable as cross-legged positions, it still provides a fairly large "base" that seems to help me forego the need to consciously balance.
The birds have vanished down the sky. Now the last cloud drains away.
We sit together, the mountain and me, until only the mountain remains. Li Bai