The verdict
For a small B2B team, I'd pick Figma. Most designers, freelancers and agencies already work in it, and shared libraries and comments on a live file keep reviews short.
Pick Penpot when openness is a requirement. That means a company with strict data rules, an open-source project, or a team that wants to script design work through an open API.
Before you move to Penpot, run a pilot on one real project. Switching costs time, and libraries from another tool have to be rebuilt or imported. If no data or openness rule forces the change, stay with what your designers know.