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Of course, the waiting part can be troublesome when your drones are down there :)
You really want to have teleport (preferably on a 4 slot drone) and remote power (or pry, but remote power is better) for outposts. And then use the guy with teleport to do everything. The only thing you have to use the transporter for is to tow things back. But you can minimize the risk by only having the guy with teleport on the outpost 95% of the time and focusing on getting your guy in and out quickly if you need to tow something.