Buying a Condo vs Townhouse vs Single Family Home?

My partner and I are thinking about buying our first place instead of renting, and are saving up. I am not sure which would be best for a young couple who are first time buyers. We do plan on living in the home for maybe a few years, but I am not planning on staying in the same place for many many years. We definitely plan on renting out the home in a few years, and maybe even sell it in the far future. The only thing that worries me about buying a single family home is that we will be responsible for all of the maintenance, and I'm afraid that it will be too expensive. We live in a beach town in South Florida (which is where we will be buying) and a good number of town homes are detached from neighbors, so privacy here won't be such a big issue to us if we end up getting one of those types of town houses. What are the pros and cons of each and which would you personally recommend to a young couple who are first time buyers? Thanks.