Condo, Towhhouse, or Single family?

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Hi everyone, I'm looking into buying my first investment rental property. I would just like to see what everyone thinks is the best kind of property to buy: condo, townhouse or single family?

I've read somewhere that single family houses have better appreciation potential, but read somewhere else that condos are better value for rentals and they'll be in more of a demand because of all the Baby Boomers retiring and buying(as well as more young people buying condos because they can't afford houses). Plus there's all the HOA and maintenance issues.

So since I'm a rookie, I would like to ask the veterans out there their opinions on the pros and cons of buying these different properties as rental investments. What would you recommend for a first time investor?

Thanks!