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What a mistake, all these complaints I read were outdated or just untrue. You can go anywhere in the Cyclops and you are very safe. Only in the Dunes and few other places with lots of Reapers you have to be a bit careful, which basicaly means either: use shield a lot, or just don't stop near them and keep using decoys. Use silent running all the time & pack a lot of power cells. That is it. And I'm not even squidding.
Yes, you just need a sonar to navigate properly in the caves, and the module that lets you recharge in hot water is also very useful.
I built a scanner room in the Lava Castle and used the drones to freely scout ahead and also to mark my path. This is borderline vital for getting out because the Lava Lakes are fairly samey and it's easy to get turned around.
The best path I found was left out of the Lava Castle's entrance and hugged the ground until I came upon a pit, then I followed the lava flow in the pit to the Lava Lakes. Once you make it there the PMC should be freely visible. Note that I'm pretty sure you can fit your Cyclops through this pit, but I don't really see much point to doing so. There's a sea dragon in the Lava Lakes and nowhere to hide a Cyclops from it.