2D Endless game - Best method for moving objects?

I am developing 2D endless game, and I would like to know which method is the best for moving objects? Is it rigidbody2d.velocity or transform.position? I know that there is written that we should use rigidbody on all physics objects, yea, I know that, but I have rigidbody only on my main character, cuz only on this one I use gravity. Other enemies have colliders and I can move them by transform.position. I have tested both methods and think that my method for moving objects by transform.position is more smooth. So which one is better? My method or should I attach also rigidbody2d to other moving objects and use velocity for movement?

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