5.05 and 9.00 firmware is your best options.
I would goto 5.05 and jailbreak and if you have issue with 5.05 you can always update to 9.00 but you cant go back so you might as well try out 5.05. Its a bit more stable then 9.00 but 9.00 can play newer games,
but 3.55 you wont be able to jailbreak a ps4,.
A PS3 3.55 is a jailbreakable firmware but not on the PS4.