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I think the only sentinal worth using is taxon or helios, as the others are just...meh
Only time I take anything else is when I'm taking a Kavat for certain missions.
Taxon- overshields + a cc cold beam that buffs condition overload, improves situational awareness with it's Lazer tag
Wyrm- enemy knock back protection, good for protection against those backstabbing butchers/groundslam units
Djinn: corrosive damage buff
Dirga: similar to wyrm-
Helios: scans / finds things in out of the way places for you, usefull in challenges/quests
Huras kubrow: best cloak companion, turns any frame into a stealth frame
Huras kubrow: mini terrify and shield charge, very helpful when paired with desecrate nekros to buffer between damage taken from desecrate and enemies, preventing a KO in higher tiers
Smeeta kavat: charm always seems to synergize with whatever frame your running, overshields on fragile frames, damage buffs on rifle based frames, loot drops on farming frames
Adara: a flat crit buff, what can beat that
I use carrier prime in general, adarza for eidolons, and smeeta for farming gems/kuva/etc.