A while back I wondered the same thing, and ended up benchmarking a number of approaches:
interpolation: $result = "$hello $world";
concatenation: $result = $hello.' '.$world;
reverse-concat: $result = $hello.(' '.$world);
interp-concat: $result = "$hello ".$world;
concat-interp: $result = $hello." $world";
sprintf: $result = sprintf("%s %s", $hello, $world);
join: $result = join(' ', $hello, $world);
super-join: $result = join('', $hello, ' ', $world);
The results, fastest first:
reverse-concat: 14.24
interp-concat: 14.43
concat-interp: 14.68
interpolation: 14.98
concatenation: 15.74
super-join: 17.65
join: 17.68
sprintf: 24.65
And I concluded that I would never use sprintf for this, and there really wasn't much difference between the other approaches, so I should just focus on what was easiest for someone to understand in any given context.
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