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Peter Norvig mentions in Paradigms of Artificial Intelligence Programming, on page 50, the trade off between specificity and consistency and when choosing to use setq or setf to update a variable to a value. What do you recommend? Have you ever run into a situation where it mattered much beyond readability?
Using setq is more low-level, but the performance of setf is not a problem. And setf allows you (or library writers) to provide custom setf behavior, like setting parts of custom data structures. I say: go with setf everywhere unless you have a reason not to.
Also see Practical Common Lisp, chapter 3: “The SETF macro is Common Lisp’s main assignment operator.” PCL is available online for free: http://gigamonkeys.com/book/