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To transfer items to Vasco (or any other companion) talk to them and select the option to "Trade" items with them.
For picking up items, it is the E key, and all you have to do is target the ship and slow down. You must be within 500m.
As for why you can't see VAsco on the ship, it's because you are still flying the Frontier. He's big, and gets in the way, but on ships with other hab modules he does show in your ship interior. He actually told you where he was going to stow himself out of the way when you first boarded the Frontier. You hear him, because 'comms'.
Once you have pressed trade with the robot there is a prompt in the lower right corner on how to swap to your inventory (aka giving things instead), unless i'm mistaken the default is Q on pc.
Its mentioned early on in the game that the robot is stored externally on the ship (some sort of robot bay, no idea where it is), that said its a robot so it just need to connect to the ships communication system to speak to you.
Sounds like you need to slow your ship down. To pick stuff up from destroyed ships you need to have the debris selected (E to cycle between things that are selected) and be within 500m of it.
I can not pick up items in space because the key board command is the same to stand up out of the chair, so all that happens when i press "E" is that my character stands up.
Again, you need to select trade with the robot then use the button to change to your inventory (i think it was Q, its shown in the lower right corner of the screen).
You don't hold e to pick stuff up from ship debris, you select and move within 500m from it. Then use e on the list that pops up to select the stuff you want.
As for your E-key issue, taking things from destroyed ships is "tap" of the E key, getting up is "hold" of the E key. Don't hold it down.