First time home buyer. USDA or FHA?

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Okay, I've researched, researched researched ,spoke with loan specialists etc. and I'm on the right path to get started, but felt it would be wise to ask the BP community of their experience in hopes to be gifted with their knowledge so that I can better correlate between research and human endeavor.

So I DO NOT earn 6 figures and therefore I've lived well below my means to save everything I do earn to begin my buy and hold path. 

My narrowed options are a 0% down first time USDA home loan or a 3-5% down FHA. In your wisest of wisdoms which would be the better move? OR is there an option I'm overlooking? I am humbly grateful for any and all of your responses. Thank you.