What is different between App Router and Pages Router in Next.js?

I have started learning next.js in Next.js official documentation:

next.js official document

The document mentions two router features; App Router and Pages Router.

I understand that the App Router lets you use features such as Server Components and Streaming. and The Pages Router is the original Next.js router, which allowed you to build server-rendered React applications and continues to be supported for older Next.js applications.

Well to easily understand it, I have created the below table of difference, based on your requirement you can use desired router however app router is prefered in the official docs.