This is a very complex question. Observationally, there is virtually no evidence that the universe is anywhere near being 'closed' because there is no conclusive evidence that 'Omega' is greater than 1.0. Taken at face value, observations consistently point towards Omega less than 1.0, and often by a handsome margin. To get Omega = 1.0, which is an infinite, 'critical density' universe of the kind predicted by Inflationary Big Bang theory, you need to include lots of Dark Matter in an exotic form that does not include ordinary matter. Physicists have many candidates for this stuff, but there is no independent evidence that such 'matter' exists. True, many galaxies show they have some kind of non-luminous Dark Matter, but the amounts are always consistent with ordinary matter, and with a total Omega less than 10 percent of the critical value for an infinite, 'flat' universe.
As for which kind of universe I would prefer to live in, it doesn't matter. In either case the prospects for life continuing indefinitely are bleak. In an infinite universe, collapse will be finished in about 60 billion years or so and that's the end of life in this universe. In an infinite universe, we have a bit more time, measured in trillions of years before all of the stars burn out and it starts to get real cold. Life is doomed in either kind of universe.