If you don't want to worry about configuring everything and your needs are common needs, you should go directly with parcel. Parcel provides defaults (for babel-preset-env, post-css, html, etc) that fits most scenarios and works for everybody. You don't have to worry about configuring anything.
From the other hand, if you need a more customization, you should go with webpack. Keep in mind that you will have to setup everything that you need, explicitly set those things.
参考：Webpack vs Parcel - Stack Overflow