Audio only is a lot easier IMO. For one thing, you're not also dealing with waving your hands around so much and thinking about where your eyes are focused. And you can't as easily refer to at least a semi-script. I learned to create videos but podcasts were definitely easier.
(I'm fine being on video but recording yourself feels a lot harder for me.)
I saw the great Canadian raconteur Stuart McLean perform a year or so before his death. He wrote and read aloud The Vinyl Cafe, a mostly-comedic radio show about a fictional Canadian family. I was at one of the live recordings, and it was surprising how animated he was. He was basically dancing around the microphone and using his hands and body for emphasis. After seeing the show, I really noticed how much it carried through in the recordings.
