I too am no expert, but have just gone through the same process of trying to find the best position. Here is my take.
I personally like the POE cameras; make the whole system seem much cleaner. I would get two Hikvision DS-2CD2532F-IS cameras. One mounted under the eave as you depicted in your update post, just above the garage door. Although I don't know your garage layout, I suspect that you have a dead area or storage area directly above since the second floor is set back a bit. this may make running cables easier. You can get either a 4mm or 2.8mm lens; I would probably go with the 2.8mm being that you are lower. the issue with distortion is offset with the high res image and wide FOV.
For the second camera, I agree the previous posters that you want to cover the doorway. Could you wall mount directly to the left of the door along the garage wall? If you mount it at level with the joists for the second level, you may be able to go through the wall, knock a whole in the garage ceiling, and carry the line forward to that same crawl space. I know aesthetics is a concern, but these little cameras look pretty clean. You could probably paint the cover to match the wall paint. I also feel leaving the cameras visible creates some deterrence.