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You can do both if you have time. I've looked into Scuba Junkie's Sipadan-Sagalaki combo when I booked my Sipadan trip last year. There is a Monday direct flight from Tawau to Tarakan and they do transfers directly from Tarakan to Derawan. You save 15% on Sagalaki package. I ultimately only did Sipadan because I couldn't make my vacation days stretch enough to do the combo and Sipadan was more famous/mentioned as a top site in like every article. It is still the best place I've been to so far in terms of reefs/biodiversity but Mabul/Kapalai which you're also forced to dive is not that great. We had 2 days of guaranteed permits for a 4 night stay. The permit system is quite inconvenient and Semporna which you're forced to transit through (and likely overnight in) is a dump. I did want to return to the area and recently decided to do Sagalaki/Maratua/Kakaban in 2021 on White Manta instead of going back to Sipadan and wasting at least half my days on Mabul/Kapalai. I think getting 5 out of 6 days at Sipadan is quite rare, most places you're only guaranteed 1 for a 4 night stay. The place we went to (Billabong Scuba) guaranteed 2 but was very basic and not the most comfortable.
We wanted to combine both (4 nights on Sipadan liveabord then 5-6 days diving Derawan area), but due to the flight schedules, it was gonna force us into 3 days without diving if we went that route (overnight in Tawau when we disembark ---> overnight in Berau after flights from Tawau-Tarakan and Tarakan-Berau) ---> transfer to resort on day 3 but not allowed to dive that day). That just felt like way too much wasted dive time, so now we're stuck picking one or the the other.
Scuba Junkie's combo is interesting, but apparently they don't dive The Channel, which is supposedly the best site in the area and not one we wanna miss!