I have both of these knives. The Endura's G10 handle, with full stainless liners (not nested, as with the FRN Endura), is very beefy-feeling compared to the FRN version. I LIKE THAT. The one issue that I have with my G10 Endura is that it came with a very obtuse edge bevel on the VG-10 blade. Not sure if that was a fluke on Spyderco's part, but it's the only Spyderco I've purchased that couldn't shave hair out of the box. I ended up swapping out that blade from the handle, and replacing it with the combo-edged blade from my FRN Endura. I'll get around to reprofiling and sharpening the original FFG (full flat grind) blade at some later time.
I have two of the Para's. One is S30V, the other is in D2 (with the green G10 handle, like the Endura). The blades on both came with WICKEDLY SHARP edges out-of-the-box. Also have 3 of the full size Military models, all in S30V. They too came with outstanding edges. Based on all comments I've ever read in BF and elsewhere, the wickedly sharp edge has become a hallmark of the Military/ParaMilitary series from Spyderco.
At first, I was a little uncertain about the looks and locking mechanism on the Para. But, the more I carry it, the more I like it (I think you'll hear a lot of similar sentiments on BF regarding the Para). It's all about ergonomics and functionality with the Para (and the Military). I've come to view the steels used (S30V, D2) in the Para more favorably than any other in a production folder. They've never failed to impress me with regard to how sharp you can get 'em. The VG-10 is also good in the Endura, but I think the S30V is my favorite overall.
The Endura will allow repositioning of the clip (tip up, tip down, left or right), whereas the Para doesn't allow that (it's fixed at right side, tip down). Also, the Endura is a 'conventional' lockback (mid-lock), whereas the Para does use that unique 'compression lock'. Some like it, and some don't. I've come to think it's perfectly fine for me. And I get the impression that it will be very strong, little or no chance of accidently dis-engaging it.
FYI, the company that produces the CPM-S30V and CPM-D2 steels (Crucible) is just now entering Chapter 11 bankruptcy protection (that's a whole new thread topic in itself). Their plant will eventually be shut down and/or sold off. So, at least in my mind, there may be some question as to how long these steels will continue to be available. Might be worth getting what you can now, if that concerns you...
And, if this matters to you, the Para is American made (Golden, CO). The Endura is Japanese made (Seki City). They're both well done...
I have modified handle a bit and the knife became my favorite user. Endura with G-10 is great, but Paramilitary is lighter, faster and smother in operation. Locking is just great:thumbup: 
:thumbup::thumbup: