If you want to stick with stock, gb 2.3.4 should give you less troubles and better battery life than ICS, IMO. However, some also have good experience with the stock ICS. Therefore, YMMV. You might have to try it yourself.
For me, I ditched the stock long time ago and is in CM-9 (ICS.) I don't think I can go back to stock anymore. Yes, it misses some sammy tw functions but I can always find the alternative someplace else.
HTH.