What should I use, get_posts or wp_query for less CPU load?

I doubt using get_posts() vs WP_Query() would make any meaningful/noticeable difference in CPU load. Ultimately, get_posts() is just a wrapper for WP_Query(), anyway:

$get_posts = new WP_Query;
return $get_posts->query($r);

You would be better served by looking at the efficiency of the queries themselves; but to provide specific assistance there, we would need to see each of your get_posts() queries.

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