You'll want to stay at both eventually as it is entirely personal preference, and it's a short walk/shuttle ride between the two and you can take advantage of both resort's amenities when staying at either.
For a first stay I'd do Jambo House just because it is "the" animal kingdom lodge.
Both resorts are stellar and a jewel in the DVC portfolio, you really can't go wrong.
Just be aware that the hallways at Kidani are truly long - 1/3 mile from lobby to end of each. It makes for a very long walk home at the end of the day, if you’re near the end.