Insulation basement along foundation wall
I just bought a house and am making some initial plans for finishing my basement and I figured a good place to start would be with adding some insulation. Along the top of the concrete foundation walls there is a gap where some plumbing pipes (which I need to secure) run parallel to the joists, and on the walls perpendicular with the joists, are pretty much empty gaps. Can/should I add insulation into these areas before finishing? What options do I have as far as insulation choices?
Also, I’ve been doing some reading about adding insulation to concrete walls. Most articles I have read have said to first check for any moisture first. The concrete walls are painted white but I’m not sure if they are a waterproofing product or not. Either way, there is not any signs of moisture, so I think I am OK to insulate. What is the best approach for insulating along my concrete wall? Foam insulation, and frame on top of the foam? Frame directly on the concrete and add insulation between studs?
I am attaching some pictures of the space. I appreciate any guidance you all can offer.