What does your engineer suggest?

".I don’t want to see cracks in our dream home."

Just remeber there is no types of concrete. One that is cracked and one that is yet to crack. It will happen, the key is the proper prep and planning to minimize the effects of the crack.

Modern pier and beam is very good (even beams are suspended above soils thanks to void boxes) but it'll add $30K to your foundation cost.

Tella Firma is a cost effective hybrid where the slab is lifted 9-12" above soil, but you need prior experience from builder and concrete company because mistakes can easily occur to cause problems years later or to cost you additionally during construction to correct (e.g, incorrect pier heights, broken plumbing pipes).

You also need to pay attention after the foundation is lifted to make sure soil doesn't get washed down below the beams, negating the lift.

I'd use Tella Firma in a heart beat because it works. Just have to watch the install like a hawk.

I think the soil report is already available.

Tella Firma is a optimized hybrid of post tension slab with piers (typically helical but also works with concrete piers).

Having done a pier/beam foundation in Dallas with void boxes under the beams and poured concrete piers, I can see the advantages of the Tella Firma approach. It eliminates the void boxes (which can be a pain, esp. when something goes wrong after rebar and forms are placed).

I’d pay more for concrete piers to bedrock vs. helical piers. Seems sturdier.

We work with expansive soils frequently in our area including those classified as extremely high shrink/swell potential. That said, what works in our area may not be appropriate in yours. You need to consult with your local geotechnical engineer. They will know what works given the particular properties of the soils on your lot and the particular structure to be built.

I also recommend you have the same geotechnical engineer inspect whatever system they've recommended during construction to ensure it is installed consistent with their recommendations. An ounce of prevention...