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It's only a matter of personal preference. Using sprintf is more time-consuming than simple string concatenation, but I doubt that the difference is significant.
My preference is:
le="color: #000000"><?php $table = $xoopsDB->prefix("partners"); $xoopsDB->query("DELETE FROM $table WHERE id = '$id'");
Or for complex queries that don't fit nicely on one line:
le="color: #000000"><?php $result = $xoopsDB->query(" SELECT a, b, c FROM $table WHERE d = 'foo' AND e = 'bar' ORDER BY f DESC LIMIT 30 ");
Note that having a line break in between the opening " and SELECT requires a trivial change to class XoopsMySQLDatabaseProxy::query.
I think the primary objective should be to make the code readable.