Whichever works. If you are using Windows 10, try the Windows 10 driver for your hardware. If you have issues you can always roll back.
Always try and use W10 drivers if you can get them. I've come across a few drivers that work fine in W8.1, but won't even install on W10.
I'd say the obvious answer is to work your way down. If you can't find Windows 10 drivers, try 8.1/8 drivers followed by Windows 7 drivers etc. While even Vista drivers are likely to work in a number of cases, it might be in a feature-limited compability mode. For instance the WDDM driver model has been updated in basically all the mentioned Windows versions.
Those are usually inf problems, not problems of the driver itself. Because stricter controls on the syntax or because purposely (and pointlessly) forbidden. Especially intel is used to block the graphic driver on windows versions newer than the driver itself.