Which is better as a pet? Friendlier? I know pygmies a are cheaper, but are they significantly less hardy? I would like to use as little space as possible, but this will be my first chameleon.
I can't help there. I have no pygmy experience and don't want to lead you the wrong way. I'm sure a senior will come in and give you all the info you need. Lots of good info here also https://www.chameleonforums.com/care/caresheets/pygmy/
For your first cham I would consider a male veiled. It needs a larger enclosure than the pygmies, but can be a very rewarding pet. Jackson's aren't a beginner cham IMO. I have a pair now and they seem way more challenging than Veiled, their eating habits are sporadic, and have you concerned a lot. And like the other post said their humidity levels are harder to maintain. I personally have never owned a pigmy cham before but from what I read I wouldn't think they are a beginning cham either. They don't live as long as Veiled do either. I believe it's around 3 years with good husbandry. Where I have had male veiled live for a little over 9 years. Good luck in what ever you choose.
Which is better as a pet? Friendlier? I know pygmies a are cheaper, but are they significantly less hardy? I would like to use as little space as possible, but this will be my first chameleon.
Never kept Jackson's so can't comment really. But pygmies don't make great "pets" as such. Unless you can find genuine CB animals, i would personally avoid pygmy's as a pet chameleon.
Although this does all depend on how interactive you would like your pet to be.
Personally i would get a male Panther for a first chameleon pet.