Sikaflex and similar products may be better if you live in a cold climate. Water gets in cracks some seasons and will freeze opening up cracks more and potentially frost heaving the ground underneath. Sand of any type will be less water tight than something like Sikaflex. I live in Michigan and did this on driveways, walkways, and the sidewalk because I got sick of cutting down weeds in all the cracks. Sikaflex can last about 8 ish years before needing to touch up and it avoids a LOT of weeding and string trimming year by year (damn weeds find everything quickly). Plus it helps avoid more cracks and damage in the winter. I am less concerned on exact matches. But if you are lucky, some of the standard colors might be close enough to be less noticeable.
With Sikaflex, I pick out the crack using a bent hook like a cotter pin puller and then wire brush and vacuum. Maybe power wash lightly and let it dry well. Then I put Sikaflex in with a board covering the seam for a few days (on sidewalks) so nobody walks on the seams while they are curing. It takes some time so I do a few seams a week on weekends. But it beats weeding regularly all growing season and keeps the concrete from further degrading and frost heaving near cracks and seams. I tend to not use backer rod unless the cracks are very wide. So, if the cracks are wider, I sometimes do a few passes of filling to account for shrinkage in the curing process. It also works better to do this on warm days since Sikaflex flows into the cracks much better when hot. I hate yard work and this helped me avoid some of it overall.