Is the Overhead Different for ZK-SNARKs versus ZK-STARKs?
Yes, the overhead differs. ZK-SNARKs have a high one-time setup cost (the trusted setup), but the proof generation time is typically faster, and the on-chain verification is very fast due to the succinct proof size.
ZK-STARKs have no setup cost (they are transparent), but the proof generation is generally slower, and the on-chain verification is more computationally expensive due to the larger proof size.