Lurker is better. Both have the same amount of slots (7), but lurker lasts 9 minutes longer I think. Seems kinda odd that a lower level familiar would last longer.
I used familiars quite often when going for 99 rc. It seemed that I usually gained around 100 rc xp extra per trip with a familiar. Not allot but it added up over time.
im wondering if its really worth it though since you have to take time to get out of the bank screen, fill the familiar and then get back into the bank to take out more ess...seems like time wasted
Some people prefer not to use the ess. familiars because of the extra clicking you have to do (or maybe they just don't know it's faster). However, it is indeed a bit more XP/hr using a familiar.