The BFD feature that uses less CPU usage is BFD asynchronous mode. In asynchronous mode, BFD sessions are initiated independently by each router in a BFD adjacency. This means that each router sends BFD packets periodically, regardless of whether or not it has received any BFD packets from its neighbor.
In contrast, BFD synchronous mode requires both routers in a BFD adjacency to agree on the interval at which BFD packets are sent. This means that both routers must be synchronized, which can require more CPU resources.
Additionally, BFD asynchronous mode does not require BFD packets to be acknowledged. This means that BFD packets can be sent and received more quickly, which can also reduce CPU usage.