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As far as utility/stuff they offer, carrier grants ammo mutation and opens nearby crates to auto loot for you, deathcube can spawn energy orbs, diriga can stun enemies, helios scans things for you, nautilus repairs your railjack and vortexes enemies, oxylus scans plants, puts fishing hotspots on your map, and highlights fish liek you always have a luminous dye running, wrym has a stun and can keep status effects off you, and shade and taxon....exist.
Alternatively, you can invest in a moa companion. They can use all the robotic companion mods that sentinels gain access to, and are "immortal" in the sense that kubrows are "immortal", in that you can pick them up if they get downed, but will die if you fail to do so. This can sometimes cause issues as without specific builds companions can get downed constantly, especially on higher level content, but on the other hand if you use the right builds they can almost never actually get downed.
There are 4 overall moa 'types' that determine what unique mods the moa can use, which is based on the type of head installed in the moa. The para moa can vortex and cc enemies, the lambeo moa can knockdown enemies and protect you from projectiles, the oloro moa can auto hack consoles and give you more aim glide duration, and the nychus moa gets more overshields capacity and a dash ability.
If you are like me, you will look at that list and overall not see a specific one that seems amazing and great to have all the time, and while good to have in specific missions or builds, not just generally useful to always have. There is, however, a slight exception to this, in their weapons. There are some weapons people liek to use to provide small amounts of dmg or to proc status, but I like to have my sentinel weapons hold onto set mods to passively give me those benefits without me needing to actually slot them onto my own frame / weapons. Being able to always have the vigilante set active to enhance my crits is a pretty nice quality of life bonus, in my opinion. Alternatively, if you live the melee life, helios (and only helios, iirc) can use the deconstructor weapon, which counts as melee so you can slot on gladiator set mods onto that.
Utility-wise Helios and Oxylus are pretty useful.
Nautilus has the best weapon, aka Verglas. I highly recommend buying Nautilus from the market if you got the plat. It's only 75p, which is nothing compared to the grind you would have to go through to obtain it.
Small camera dood is the guy my guy.