For Simscape models, you should in general choose an implicit solver e.g. ode23t, ode15s or daessc. However, results should be comparable for all solvers provided that you pick abstol and reltol values that reflect the accuracy you need. It is best practice not to use the "auto" abstol option; better to take control and set the value that you need. Ensuring the max step size is not too large can also help simulation speed by reducing the number of solver resets.
Please see this example which may help with setting up your model:
Regards
Rick Hyde
