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Satellite; As long as you have sky, you have signal. Satellite requires you to be aimed correctly, so using it while driving is near impossible. If you want your navigator or someone else to use the internet while driving, wireless (G3 or G4) will work best.
I refuse to bolt anything else to my roof and WiFi is too spotty so I went with ATT Air Card - was unhappy with its slowness - took it back and tried Verison - much faster than ATT, coverage is good but it will also be slower when cell tower strength is low and it will usually work while you are driving.