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Materials I'm commonly missing are food items for medicines, as everytime I go to the medicne bench, I'm short on things like galeclaw poultry or rushoar pork
It's literally just sending out Pals that are just idly sitting in the Palbox, and making them do something useful for once.
A convenient way to pick up free Ancient Parts and Cave Mushrooms, and getting some free meats to cook. Among other things.
All for the high cost of... walking a few steps over to that part of your base and claiming the prize.
Even sending them out, I can just go to one of the boxes, and just rapid-fire pick everything and send them. Later on, claim free goodies, and I didn't even have to grind a dungeon for it.
1. Ancient civilization parts and ancient civilization cores. Especially ancient civilization cores.
2. Cavern mushrooms. They are difficult and boring to farm, so expeditions are a great option if you need them.
3. Souls and/or spheres.
4. Chromite. It's a pain to farm manually, so I've found expeditions to be better as a passive source of chromite.
So I usually send expeditions to the Dark Cave of Feybreak - it has most of the loot I need: souls, orbs, chromite and ancient civilization cores, and even some oil. In other cases, I send for mushrooms in Hidden Ruins of the Desert (again, if we don't count the difficult expeditions after defeating the tower bosses).
But again, I don't know what stage you are at exactly. So if it's near the beginning of the game, then I think any one you have the strength for and where you need the resources at the moment will do.
Probably focus on ancient civilization parts and the best time to mine them. Maybe also sulfur or coal - they are needed for ammo for firearms and better spheres before your pals can mine them in the base.
For generally how it works, each mission has a "power" requirement and each pal is assigned a value based on their level, Star level, and ATK power (considering the actual number, which is boosted by traits like Ferocious but not by the Lord of traits). Each mission has a minimum number of pals that must be of a specific type, and past that number any may be entered. The power requirement indicates the minimum value for 100% rewards, and the more you exceed that value by the shorter the expedition itself is. Only way to actually increase rewards gained per mission past 100%, to my knowledge, is via specific research.