Whether to use HDRP or futureproof with URP

Recently I decided to port my game to the Unity engine over issues with our last one. We picked HDRP initially for Raytracing support. But after doing research on Unity's roadmap to version 7 I've noticed that HDRP is considered to be in maintenance mode and that URP is recommended from here on out.

For reference, my game's style looks like this. It is very important to me that most shadow casting light sources have sharp shadows. But it is also important that we keep up with the latest Unity updates since we are really excited for the modernization of the engine.

So I am having trouble deciding, do we use URP to futureproof our project for later versions? Or do we stick to HDRP?