USB will work fine for your purposes, and should work with any DAW with no need for special drivers or other software; MIDI-over-USB support is standard on any recent OS.
(Warning: note that USB is great for connecting keyboards to computers, but it doesn't always work for connecting keyboards to each other. It's becoming more common for keyboards to act as hosts for the purposes of MIDI-over-USB, but many only work as devices. So, for example, if you want to use one as a controller to play sounds from another synth, then you could plug both devices into a computer and use software to route MIDI from one to the other, but you may not be able to leave the computer at home entirely.
Note that a number of keyboards have USB host (type A) sockets like the ones on a PC, which makes it physically possible to connect the keyboard to another keyboard with a device (type B) socket. But often those sockets only support storage, usually to back up patches or recordings on a flash drive. You need to check the specs carefully to see if they'll also act as USB MIDI hosts.)