FWD is honestly a better setup for daily driving and especially in adverse weather conditions. RWD is better for drag racing due to the simple physics of the weight transferring to rear wheels during a hard launch. RWD is also more fun because you can kick the back end around with ease.
But, in practicality, FWD makes the better choice for most passenger cars.
For a human being, sure. But that's because of your body's design. In physics, a force is a force. It really doesn't matter to the car in terms of efficiency if the front wheels are exerting the force or the rear wheels.
What does matter in efficiency is mass of the drive train, with RWD's usually have more mass in that area which answers why they are slightly less efficient.