Personally I think it depends on what your playing.
I love fingerstyle and I love playing with a pick. Two different methods - two different sound that suit different pieces of music.
Don't limit your arsenal - use both.
Indeed.
It's kinda like 'clean vs. overdriven tone' or 'dry vs. effect laden tone' or 'unmuted vs. muted' - best not to restrict yourself to just one for everything - you might get better results with some combination of several approaches, depending on the application.
IMO fingerstyle is better for warmer sounding, less forward lines - and picks have a punchier sound with a far more forward sound possible - sounding kinda like using fingernails in fingerstyle. All good. Check out this obscure bassist for a reference on how to do it:
(pick)
You can get a wide variety of tones out of either.
