If an application (or a REST endpoint) recieves a request, evaluates it with drools and send a response, so it doesn't need to maintain drools session state, you can use a stateless session.
If an application (or a REST endpoint) recieves multiple requests and evaluates them together with drools, so it needs to maintain drools session state across requests, you need to use a stateful session.
Stateless session is recommended if possible, because it's easier to manage.
Microservices Architecture is generally based on stateless architecture, so stateless session.
Toshiya