It is rarely a case of a puppy jumping out of an ex-pen, (though it CAN happen) ALMOST always, it is a case of them climbing up and jumping off the top. Which means that the height is really immaterial. Once they learn to climb, they can climb any height, and just get hurt worse from a taller pen. The only answer in those cases is either a pen with just vertical bars (there are a few) or a cover for the pen. (There are a number of options on Amazon)
Midwest (and similar, Amazon Basics is even cheaper!) is definitely the least expensive and totally serviceable. If you are short, or buy taller than 24”, get one eith a gate that you can step through. They are only a few dollars more.
Also, it really isn’t all about the height of the dog whether they will jump out or not. Kodi has been able to stand with his front feet on the top of a 24” pen and his head and shoulders are WAY over it. He has (mistakenly, but EASILY) jumped 24” jumps in the agility and obedience ring when he was younger. ALL my dogs (except Kodi now that he is older) easily jump onto my bed which is well over 24” high, so there is no doubt in my mind that they COULD jump a 24” pen. But they respect it, because they have been used to it since they were little puppies, and feel comfortable and safe there. I’ve seen Great Danes who respect 24” ex-pens. (Which is actually pretty funny,

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Cloth pens, like cloth crates, should NEVER be used for puppies without close supervision, for the reasons you mentioned and more. Only when a dog is mature and fully trained to crates and pens should they ever be left unattended in a soft-sided crate or pen, and even then, only after you’ve tride them in it supervised a number of times.
Plastic pens, at least Iris pens, are VERY durable. I would actually say, owning both, that they are MORE durable than Midwest pens. They can be left outdoors, long term, without rusting or breaking down. They are easily washed, and there is no paint to peel off. The PROBLEMS are that they don’t fold down into a nice, easy to store foot-print, and IMO, worst, is they have this STUPID gate that a human can’t walk through! I have one, and I use it in pieces in outdoor applications. Two sections block the steps off our porch and deck, and the rest of it blocks the tractor gate out of our back yard, where there is a low spot that the dogs could get under. I don’t love them, but not because they aren’t durable.
Does Enzo have a potty tray in his pen? And has he been trained to use it? My guess is that if he had, he would not have starteted thinking of the tarp as an appropriate place to potty.