The common objection I get from the team is that the second one does not comply with start REST style.
The easy answer is this: consistency in the API has value, whether REST or not. So "that's not how we do it here" is going to trump "but REST says".
The spelling of URI in an API is a lot like the spelling of method names in your code. There are a lot of different arguments for different styles, but "local convention" is a strong argument by itself.
That said -- REST does not care what spelling you use for your identifiers.
This is what Fielding had to say in 2008
A REST API should spend almost all of its descriptive effort in defining the media type(s) used for representing resources and driving application state, or in defining extended relation names and/or hypertext-enabled mark-up for existing standard media types. Any effort spent describing what methods to use on what URIs of interest should be entirely defined within the scope of the processing rules for a media type (and, in most cases, already defined by existing media types). [Failure here implies that out-of-band information is driving interaction instead of hypertext.]
In band would be including the URI in the representation of the resource -- putting it into the description of a form in the HTML document. Out of band is documenting the URI, and expecting people to do the right thing with it.
Note: there's nothing wrong with human-readable URI, or documenting the URI that should be used. But notice that you can post questions to stackoverflow even though the people who wrote your browser didn't read stack overflow's API documentation -- that's REST.