Imperative has my vote, by far. It is the clear winner in my professional opinion (IMPO) for the types of tech docs I write and most types I read and edit. I write mostly end-user how-to guides with step-by-step procedures and a few introductory and "about" guides or parts of guides.
Note, too, that I avoid -ING words if possible and follow global English guidelines. This is primarily because some languages have no equivalent to -ing words. Literally: -ing words don't translate to some languages. In today's global world, whether my docs are translated by my company or not, for years I've written with the assumption that many of my readers are reading English as a second language (ESL) and they either programmatically (browser or other tools) or in their minds translate my text into their own language.
Literacy rates, especially in the US, are at all-time lows, too. So, IMPO, the more simple that I can write tech docs, the better for all readers. I define "KISS" as "keep it super simple".
John R. Kohl's still-relevant and seminal book, The Global English Style Guide, devotes an entire chapter (22 pages) to "Clarifying -ING Words". The book, ©2008, is hard to find and not online. But, it is still relevant and worth the trouble to locate a copy and incorporate its key points into your tech docs (even as I write this in October 2022). There is no equal that I'm aware of.
Edmond H. Weiss, in The Elements of International English Style (p. 25) states, "Some forms of controlled English severely restrict the use of words ending in "ing" because of the several problems associated with this suffix." That section of the book focuses on use of the simplest verb forms.
Microsoft Writing Style Guide (https://learn.microsoft.com/en-us/style-guide/global-communications/writing-tips accessed 10/17/22) says, in their Tips for all global content section, "Use words ending in –ing carefully. A word ending in –ing can be a verb, an adjective, or a noun. Use the sentence structure and optional words to clarify the role of the –ing word." (Note that, regretably, Microsoft uses "ending" twice in its description of why writers should use -ing words with care for global audiences.)
For an unvarnished take on -ing words, see https://www.wyliecomm.com/2021/04/stop-it-with-the-ing-ing-headlines/.
Also, refer to https://en.wikipedia.org/wiki/Gerund, which focuses on -ing words as gerunds and covers some of the pitfalls of use of them.