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And the Taxon in particular is one of the least useful. If you want to use companions, you'll probably want to go for something like a Carrier.
Wanna triple your pickup loot range?
Wanna instantly get your shields back when they go down?
Wanna have a weapon on your shoulder spewing cold procs everywhere?
Your first sentinel will do that. Some of that at least, depending on your mods.
From a veteran perspective though yeah, basically what meyo said.
Quality of Life. Things that don't really make you stronger but just more comfortable playing.
I recommend getting Taxon, not because of the Sentinel but the weapon that comes with it, Artax. It's a great weapon that deals almost no damage but has 100% chance to slow enemy it hits. One of the very few Sentinel weapons that are useful the entire game, as no matter how much damage they deal, the others stop being any help when you get far enough into the game. There are a few other weapons that focus on Crowd Control like that, by Artax is my preferred one.
Just get Taxon and whenever you are done with it, sell it and move Artax to a better Sentinel.
Any companion can equip this mod so you will swap your taxon for a (way) better one some day, but since it'll be your first, it's usefull to get
Their AI is bad which is compensated that they do not trigger alarms if they touch laser barriers or Grineer scanners.
(had to say it)...
If you're a noob who only has access to the beam it can't kill people.
If you're a vet then the sentinel as a whole is redundant anyways.