From what I understand, they both basically mean to annoy, but is there a difference or is it just up to the speaker? Are there any situations where one is more appropriate than the other?
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I think ĝeni is a bit more general and doesn’t necessarily imply an emotional reaction. Maybe it is closer to bother or hinder in English. You could say:
La malbone parkita aŭto ĝenas la rubkolektadon.
The badly parked car causes trouble for the rubbish collection, but it doesn’t necessarily make the refuse collectors angry.
For comparison:
Ĉagrenas min ke iu ŝtelis mian biciklon.
There it is describing an emotional reaction to the problem. The bike theft made them angry.
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Well, not exactly. Personally I would say that annoy also implies an emotional reaction, but just less so than “[make] angry”. Whereas the object of ĝeni doesn’t even have to be a human, like in the example.– Neil Roberts ♦Feb 5 at 14:53