Note: The following tables list features of each protocol, they don’t directly compare each row.

SOAPREST
Wide range of specificationsUsually no standard descriptor (e.g. like WSDL) for the endpoint (unless utilizing OpenAPI spec)
Operations (inputs/return value/faults), and argument types are well-defined using WSDL, XSDJSON-based communication
Usually for S2S communicationCan be used for C2S communication
Has security features (signing, encryption, etc)
When it comes to exception handling, Web Services can describe the exact set of possible faults that can occur, so that clients are preparedNo predefined faults
Working with URL resources, using existing HTTP Methods to perform operations on them (usually just CRUD)

Tooling

SOAPREST
Debugging and testing webservices: SOAP UIPostman
Generating ws-clients: wsdl2java, wsgen (from oracle JDK)Advanced REST Client
OpenAPI

Authentication