AoA, Joe, it depends on what you want from a general. As veterans, we know the importance of careful planning, marshalling of forces, bringing sufficient logistical support AND maintaining a steady flow of supplies to the fighting troops up front, all based on intelligence concerning disposition of opposing forces, plus the ability to react to the inevitable changes caused by the friction of war. In this respect, I do think Manstein was the superior general, perhaps the best operational thinker the Nazis had. Thank God he stayed on the Eastern front most of the time.
But as a soldier, I would have preferred to ride with Rommel. The guy had a wild streak, took some ridiculous chances and was only a good, not great operational planner. But he was one hell of a leader of men, like you said joe, he led from the front. He also shared the living conditions of his soldiers, didn't fritter away their lives needlessly, and probably did more with less than any other WWII general. Tactically, his use of anti-tank guns and armor was brilliant.
It's also a bit of an unfair comparison. Rommel only commanded at Manstein's level while in France, and then was hampered by Hitler's orders. Of course, he was implicated in the 7/20/44 plot to kill Adolf and was forced to commit suicide, so he didn't have a lot of time to counter the enormous Allied army.
In summation: I'd want Manstein to do the planning. I'd want to follow Erwin into battle.