I did this last year. I opted for pure EPS. It can be messy to work with but it is a great insulator and it breathes a little bit more than the others, which was a big plus for me. When you insulate on the inside of a concrete wall, it needs to be able to dry a little to the inside. I felt pure EPS was the best balance.

I’d say the rim joist boxes are really important and it sounds like these get overlooked often. Clean them out, seal all the edges and cracks, insulate them with EPS blocks, then seal around those too.

Also, just don’t get it too hot in there when it is cooler outside as this will cause condensation that doesn’t have a good path to drying.

edit: spray foam is terrible, wouldn’t touch it