Selecting the appropriate sensor?
What you should do is choose the sensor which has the widest output swing which doesn't go beyind the input range of your analog input.

The 0-10v sensor has double the range of the 0-5v sensor, and doesn't go beyond the input range of ±10v. Therefore you should choose the 0-10v sensor.

Since that sensor covers half of the analog input range, you will use 11 of the 12 bits of resolution.