Need to replace EPDM roof, advice needed

We have a flat roof with epdm that was installed in 1994. I have received a lot of confusing quotes. The PVC guy says TPO is a fire hazard. The TPO guy wants to roof over the EPDM. The bitumen guy seems like we may be his first flat roof.

So my questions are:

Should I just go back with EPDM again, it's lasted almost 20 years? If I go TPO can it go over EPDM? Shouldn't I just tear the whole thing off and do it right from scratch, the contractor was pretty insistent that it was a waste of money to tear off the EPDM.

Thank you all for your help.