FHA vs USDA loans.. which ones is better?

I am considering two loans in state of NJ
FHA requires 3.5 % down payment Vs USDA requires no down payment , lower PMI

I want to know which ones of these loans are better for me in the FUTURE. I can afford 3.5 % down . but does that mean the percentage that i put down go towards the priciple of my loan? ( which is better)

USDA loan just add extra to your loan??? please answer

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