What is better to sell a car in the street or trade it to dealer?

I currently have two cars. One is paid for and the other one is a 2013 Ford Fiesta I owe about 11k and has 29k miles on it. A friend will give me $9500 but I have to pay the rest. If I do this I will not have a car as a back up or to travel because the paid off car is old and not reliable for long distance travel. What should I do. Sell the car to my friend or trade it off to a dealer and owe about the same?
Why? I'm just trying to get rid of the Ford cause its too small…

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