I have both Kirst and R&D, and I prefer the R&D, as the Kirst, in my experience, required more fitting to turn smoothly, and are harder on the original Italian soft metal hand.
The Kirst is a 5-shot, with a 6th "safe" rest position. The R&D has 6 chambers, with one marked by a different color firing pin retainer to remain empty for a 5 shot CAS loading. On both brands, in current production, you can see the brass rim to verify the empty chamber.
The Kirst has one firing pin, which is staked in place The Kirst backplate does not revolve. The R&D has 6 firing pins, as the backplate revolves with the cylinder. The R&D firing pins are retained by threaded ferrules, so are removable/replacable without much fuss. The R&D chambers are angled about 1/2 degree to fit the rims in the small Remington cylinder diameter, which does not affect accuracy. The Kirst chambers are more than 60 degrees apart, to fit in the rims, so the 6th safety position is a smaller segment, making the rachet star unequal in that position, and that's where I had problems.
Other shooters don't seem to have had a problem with Kirsts, however. The Kirst has a groove cut into the backplate to ease it past the nose of the hand in the frame (from the right), and may insert more smoothly for that reason, as long as you orient the backplate/cylinder assembly as you insert them.
The R&D, inserted it from the right at half cock, just as with the percussion cylinder, must be rotated clockwise as you insert it to drive the hand back onto the frame. If you insert the cylinder from the left, with the hammer down, but pulled back just enough to clear its nose, you set the cylinder on the locking bolt from the left and roll it into position to reinsert the cylinder pin.
Practice makes perfect in either method. See Clint Eastwood in "Pale Rider" for a demonstration.