Relative v.s. absolute URLs: which ones should I use for cross-domain portability?

My question is related to but different from this one

I need to make sure that my URLs work across domains like staging.domain.com, localhost:8000 and www.domain.com.

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I have local, staging and production environments. I thought relative URLs would be the solution to my problem since I will be using WP Migrate Pro to move data from local to staging to production.

But after reading this article by Yoast, I am kind of worried. He speaks about SEO problems.

So what type of permalinks should I use? Absolute or Relative? Or should I use relative URLs with canonical meta tags on my page templates?

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