So, my actualized question sounds: why not this setting defaults to the latter one?
Well, Adobe Acrobat has to consider the global market, not only the EU.
The former option (the current default) is a format introduced decades ago, even before PDF became an ISO standard, and it is the only format in the first ISO specification of PDF, ISO 32000-1:2008. In several parts of the world this is still the only format accepted by the commonly used validators.
The latter format has been introduced after the publication of ISO 32000-1:2008 in specifications of ETSI and only become part of the core ISO PDF specification in 2017 (in ISO 32000-2:2017). While it is supported by most newer PDF validators, both in the EU and abroad, there still are a lot of legacy validators out there that don't support it. Furthermore, being originally specified in the EU and being strongly coupled with the EU signature infrastructure, using this format by default might not be politically appropriate everywhere...
As an aside, the Acrobat Help article you found appears to be quite old, "Part 2" and "Part 3" of PAdES still refers to the original ETSI specification of PAdES in the multi-part technical specification ETSI TS 102 778. Meanwhile (in 2016!) PAdES has become an actual European Norm, ETSI EN 319 142, and this norm is referenced from the ISO 32000-2 PDF specification as the original PAdES. So this also is the document the Acrobat Help article should reference...