I never had a problem with my roll pins, a little squirt of WD-40 and they came out pretty easily. Getting back to the OP's question, I have both on my Harris bipods and IMO the PASS adapters are better, but just by a little bit. The PASS adapters use a cap screw instead of a roll pin to attach to the bipod so it's a little easier to install and the Gen II versions don't require you to depress the plunger to install and remove.
In terms of feet, give me Atlas rubber bipod feet every day of the week and twice on Sunday over the stock Harris feet. In most instances though I have the Hawk Hill talons on there and love those too.