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As for the Astrodynamic skill, it's in the top row i believe, and it grants fuel efficiency/distance for your warp jumps.
The way Starfield seems to be set up in how skills work/unlock/and upgrade is that you really just want to focus 1 or 2 trees that you find most valuable to how you want to play the game. For me, it was the Science and Ship trees. I did put two points into carry weight as well (because i'm a hoarder in these games), but everything else is in those two trees so far.
As far as skills from companions, there are only certain number of companions that you can get so I would suggest goggling them and seeing what skills they come with. I'm not sure if you can completely ignore the skill tree for them but I guess it depends on what you want. You need outpost building and Zoology/botany skills to create the animal pins and the nursery's.
like what are the unique manufacturing items and unique research and which one is better ect and is animal husbandry really worth investing 4 points into or are there other ways to get those items?