In contact, there are cases where linear element (meaning no midside nodes, e.g. 4-node tets, 8-node bricks) are better and cases where quadratic elements (10-node tets, 20 and 27 node bricks) are better.
Ideally, if the contact pressure variation is smooth (when you have contact spanning multiple elements, with a smooth underlying geometry) then quadratic elements should be more accurate. In practice, the quadratic elements even in such cases sometimes give worse results. That is primarily due to issues with contact algorithms, and commercial FEA codes and academic researchers in this field have devised ways to improve results.
The most commonly used contact algorithm (in my opinion) is the master-slave algorithm with contact enforced at nodes. This algorithm does not work well with 20-node brick elements. That's because even a constant contact pressure produces tensile contact forces at the corner nodes. Using a 27-node element instead eliminates this problem. That's why Abaqus for example automatically converts 20-node bricks to 27 node bricks at slave contact surfaces. Master-slave algorithms that enforce contact at integration points do not have this issue with 20-node bricks (Ansys has this feature).
A similar problem happens with 10-node tets and that's why Abaqus recommends instead the "modified" 10-node tet for contact. This modified element is actually a patented Abaqus element which internally divides the 10-node tet into multiple 8-node bricks.
A newer generation of surface to surface master-slave contact algorithm enforcing contact more accurately than just at nodes or integration points is supposed to improve contact results with both linear and quadratic elements. Such algorithms are recently making their way to commercial codes. I know Abaqus has one (you activate it by choosing surface to surface discretization within a surface to surface contact interaction), and I believe other codes have something similar too. With these algorithms quadratic elements may finally be better for contact problems involving smoothly varying contact pressures.
Nagi Elabbasi
Veryst Engineering