Wireguard is most reliable in terms of security. For censorship resistance, it's all about tunneling it in a way that looks indistinguishable from normal traffic
Domain or IP doesn't make much of a difference. If somebody can block one they can block the other. The trick is not getting flagged. Domain does make it easier to administer though with stuff like dyndns, but then you also need to make sure eSNI is available (especially if it's on hosting) and that you're using encrypted DNS lookups