I hope that someday there will be real data on this issue but right now it’s just anecdotal experience from arborists. There are databases that try to summarize this information. https://selectree.calpoly.edu/ is one I use a lot. California-centric but we have diverse climates so it should be fairly broadly useful. It has a recommended planter width, and ranks trees as high medium or low potential for root damage. Most small trees rarely cause damage, but also provide much less benefit than larger trees. Some bigger species I have noticed rarely lift sidewalks are Chinese pistache (note: invasive in some areas) and bald cypress.

That said, soil is also a large factor here–loose, oxygen rich soils promote deeper rooting and there is a lower likelihood of concrete damage. So proper soil management and protection can have an impact here as well.