Survival games come in many different "flavors" and they each provide different dynamics of play which tilt the answer to this question in different directions.
Survival games that are mostly about building and progress (think Dragon Quest Builders, Factorio, Terraria, etc.) tend to benefit from giving the player the option to choose whether to engage with enemies or not (perhaps based on whether that enemy will drop the resources they need), and when to engage those enemies. Therefore, Visible Encounters tend to work a lot better.
Survival games that are mostly about consistently attending to basic needs (think Lost in Blue, This War of Mine, Don't Starve Together, etc.) can work well with either Visible Encounters or Random/Invisible Encounters, depending on what kind of challenge you are trying to pose to the player. Visible tends to lend itself to challenging the player to make interesting decisions ("am I willing to risk injuries in order to hunt this monster for the food that I badly need?"). Invisible tends to lend itself to challenging the player to be prepared for anything ("if a giant bat attacks me while I'm searching for mushrooms in the cave, do I have what I need to fight it off? what if a slime pool attacks me instead?").
Finally, survival horror games (think Resident Evil, Silent Hill, or Fatal Frame) really tend to work better without having a separate battle screen. (I know these examples don't focus on the "survival" aspect, but it's equally true for survival-horror games that do focus on survival!) Having a separate screen for battle to take place on - a great thing in some other RPG subgenres - makes the experience feel "gamey" and artificial in survival horror, and takes away the feeling that something scary or bizarre could always be just a moment away. Therefore, go with Visible enemies but make sure to resolve all the action on the main adventure screen - including multiple enemies that can attack at once - rather than having a distinct "encounter".
