The thing search engines tend to shy away from are pages with query strings. This is because often times pages have query strings that have a SID ( ?sessionID=76daf9h8a6dfh8a6asdg ) and theres no way for the search engine to distinguish that its just a unique session ID, and not actually an entirely new page it hasn't spidered yet, even though it may have, just the SID changed.
The actual URLs as you have them make no difference really. Either should get indexed. Possibly both.
Yes, <title> tags will make a difference in ranking, <title> tags are used by most search engines to determine ranking of pages, and they're pretty important. However, I've never heard that it matters if more than one page has the same <title> tag. I wouldn't expect it woudl make a differnece at all.
If you want to get rid of your query strings, you could look at:
ForceType
mod_rewrite
404 Error method redirection