Well, generally speaking HTML is SGML and XHTML is expressed in XML. Because of that, creating XHTML is connected with more restrictions (in the form of markup) than HTML is. (SGML-based versus XML-based HTML)
As mentioned on Wikipedia, HTML 5 will also have a XHTML variant (XHTML 5).
Rule of thumb: You should always use valid markup. That also means that you should not use the mentioned or tags in XHTML 1.0 Transitional, as those are not an element of that specification. If you really need to use those tags (which I highly doubt), then you should make sure that you use the HTML 5/XHTML 5 DTD in order to specify that your document is in that DOCTYPE.
Using HTML 5 or XHTML 5 in the given state of the implementation (AFAIK, the standard is not even settled, yet, correct?) could be counter-productive, as almost all users may not see the website rendered correclty anyways.
Edit 2013:
Because of the recent downvotes and since this accepted answer cannot be deleted (by me), I would like to add that the support and standardization process of HTML5 is nowadays totally different to what it was when I wrote this answer five years ago. Since most major browsers support most parts of the HTML5 draft and because a lot of stuff can be fixed with polyfills in older browsers, I mainly use HTML5 now.