PhysicsComponentExtensions vs PhysicsWorldExtensions

I’m wondering what the difference between seemingly similar methods are in these two extension classes?

E.G. ApplyAngularImpulse() - Although the parameters are different I would have expected these functions to perform the same interchangeably, but when I switch them out in my car game I seem to get different simulation behaviour.

In the docs, it states
Namespace Unity.Physics.Extensions | Unity Physics | 1.3.8
PhysicsComponentExtensions
Utility functions acting on physics components.

PhysicsWorldExtensions
Utility functions acting on a physics world.

But how does ApplyAngularImpulse to physics components and ApplyAngularImpulse to the physics world differ? Does applying angular impulse mid simulation result in a different simulation than applying angular impulse before the simulation begins?