When we went from ZCS 5 to ZCS 6, the default was changed from --noZip to --zipStore. Note that --zipStore is zipping without compression, so --zip will be even slower. But I don't have any data for --zip.
I posted my experience with --zipStore (default for ZCS 6) and --noZip at
zipped vs unzipped backups
In short if you keep more than one full backup on disk at a time, --noZip is much faster. I can't answer the other questions but I doubt you need to do anything manually in order to restore from a zipped/compressed backup.