The verdict
This depends on your CRM, so I would not name one winner.
If you run Salesforce and want marketing and sales on one set of records, with pricing per organisation, I'd pick Pardot. Salesforce Flow for Marketers is a plus if your team already knows Salesforce tooling.
If you run Microsoft Dynamics or Veeva, or you want a data model with custom objects, I'd pick Marketo Engage. It can still work with Salesforce too.
Both need an owner, both want enough lead volume to justify them, and neither is a first marketing tool for a small team. HubSpot, with marketing built into the CRM, is easier to start with and to change later. Ask both vendors what each edition or package includes.