I have and use both. WITHOUT a Kobo-branded Sleepcover, the Aura is more pleasant to hold for three reasons:
Aura has a lovely, textured back; Aura HD has a smooth plasticky back
Aura is much lighter
Aura has flush bezel, making the whole front one flat surface.
BUT the Kobo Sleepcover for the Aura is garbage; very uncomfortable because of sharp-edged side clips. The Sleepcover for the HD is nice.
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