Yes, XLR is just balanced and you use one cable vs 2 rca unbalanced cables. Sound is the same. But for very long runs such as 30+ feet xlr would be best if you had xlr connection option. If not, good quality rca is just fine. Nothing to stress over. Usually very high end equipment will have both xlr and rca options to give you more flexibility with connections, but the sound is pretty much par.
Theater: Sony 45es, 120 inch 16:9 screen, Panny BDT500, Rotel RMB-1075, Rotel RSP-1068, Klipsch RP-280F, RP-450C, RP-160M, SVS PB13 x 2, Monster Power Conditioner, GIK acoustic panels
TV Room: Panasonic 60" plasma, Integra DTR-30.3, Axiom Audio M60, VP150, QS8, EP500