Hi! Maybe I can help with your choice.
I studied the Hailo documentation and conducted some experiments, leading to a few conclusions. pyHailoRT is very good, fast, and easy to implement, but in my experiments, it was slower than GStreamer. Especially if you are performing inference on camera streaming, this makes a difference. In my case, I need to use just one Hailo8L to process streaming from 8 cameras with YOLOv8, so I need the fastest option possible. For my case, GStreamer is the answer. 
About the problem with tracker ids, I was using this on the wrong way, the GStreamer pipeline was correct, but the callback was wrong!
On this example, the show how use the tracker: Car Detection and Tracking System for Toll Plazas - Raspberry Pi AI Kit | Expert Projects