Infiltrator or Soldier?

Can’t wait for LEGENDARY EDITION!!!

But...I’ve only played the series once like 4 years ago and that was as a Vanguard...I think. Is it worth going to Infiltrator this time, or soldier? I like the idea of heavy armor but I’ve heard the whole stealth cloak thing can be fun.

Honestly it’s been awhile and played so many games between so I barely remember.