What are the differences between CAR/M4 system, Midlength system, and Rifle system
Aside from sight radius and handguard length, the gas systems bleed off the gasses at different points, with the CAR/M4 system being closer to the chamber, the Rifle system being furthest and the Midlength being about right between them.
It's really a timing issue:
The Rifle system is the most reliable because the pressure has subsided a bit by the time the bullet passes the gas port. This means the gas tube pressure is lower, and the force on the bolt/carrier is lower. The lower pressure in the chamber has also allowed the brass to 'relax' a bit so it's easier to extract it. It won't work with a 16" barrel though because the bullet would leave the barrel too soon after passing the gas port and port pressure would drop to nil before the system cycled.
With the CAR/M4 system, the gas port is closer to the chamber, gas pressures in the barrel are much higher at that point and the bolt gets slammed back harder (don't forget gas pressure is injected
between the bolt and carrier, forcing them apart slightly before the carrier is slammed back). Due to the timing of the closer gas port, the pressures are still high in the chamber, so the brass is still expanded out against the chamber walls making extraction more difficult. The CAR/M4 system is the reason for the stiffer extraction springs and rubber 'O' rings on the market to keep that extractor tight on the case rim.
The Midlength, while operating with higher gas tube pressures than a rifle length, has slightly later timing and a softer gas impulse than the CAR. For a 16" barrel there is no good reason to go with the CAR/M4 gas system other than for cosmetic reasons.