Tracker or Mocha?

Mocha is your best option.

Mocha is a constraint-based tracker by ways of its planar tracker, which adds a layer of extra math that tests plausibility of the results, preventing it from producing illogical tracks. That and of course it simply has much finer control over the tracker regions, excluding objects from the track and a few other things. None of this exists in AE's old 2D tracker. The camera tracker still has soem of these limitations, too.

Mylenium

Mocha uses a different tracking solution called Planar Tracking.  This is a very effective method has instead of looking at individual track points, planar tracking looks at dozens and uses that to calculate then interpolate a plane.  It's great for adding signs to trucks, buildings, computer screens etc as it can also cope with the plane pivoting.

AE's trackers has improved massively in recent years though, so there's no right and wrong answer.  If you are getting effective tracks, keep with what you know, although learning a new tool is always worth it.