My personal favorite version of all the MS-DOS variants I've tried is MS-DOS 2.10. It's solid, simple, and compared to memory hogs like DOS 5/6 (lol...) it's very lightweight, which can be important depending on your system specs (mine has 256KB of ram, so yeah..)
2.10 doesn't support 3.5" floppies, and has limited support for hard drives (though in a machine of the appropriate age for the OS, that shouldnt be a problem).
3.3 is the minimum version for 3.5" HD 1.44mb floppies, so if you want those you must go with at least that.
What I ended up doing is sysing MS-DOS 6.22 from a 360K floppy onto my hard disk, then copying the essential files aside from the system bit by bit on 360K floppies, and then my programs that I was hauling around in a box of 360K floppies (as you may have guessed, I had only 360K floppy drives for this beast).
DOS 6.22 is probably one of the most stable and useful versions of DOS out there, but it's much more memory hungry than other versions. For this reason, while my HDD boots DOS 6.22, when I am going to play games that require more resources, I have a very minimal DOS 2.10 (or 2.11, can't recall) boot disk for that.
As well, (though this is a personal preference, and really more shell-related) I prefer the prompt as "A>", or "C>", omitting the colon and slash, i.e., "A:\>" and "C:\". DOS 2 has that style, while 6.22 has the newer one.