选择 means 'to select'
E.g: 选择人才 - select talents (after selected the talented people, the selector can decided what to do with them.)
选取 means 'to select and take in (accept or employ)
E.g: 选取進士- select and taking in palace graduates
(It is an official government selection of officer candidates, all selected will be accepted as 進士)
If you wrote 选择進士, that would mean you are selecting someone among a group of 進士. (Again, after selected, the government can decide what to do with them)
In most cases I saw 选择 used, but when you connect to Wi-Fi on iPhone, it shows "选取网络".
"选择网络" = select network (after selected, you can decide to connect, disconnect or delete from list)
"选取网络" = select and connect to this network
Also, 选择 can be a noun or verb; 选取 is a verb