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Usually what I do is pressure compensator, hull reinforcement, and two storage. If I'm going into reaper country I'll remove a storage to bring a perimeter defense system instead.
And Reapers are scared off by the shock, huh? Good to know.
Then whatever else you feel like. Though yes, Hull reinforcment is only "bumping into rocks at 5 miles per hour" protection.
I am fond of bringing at least one storage container. You can always just shove spare modules into it too to swap stuff around. And extra batteries are handy when you're below sunlight level.
(This statement is only a slight exageration. It's probally more like 1/4 seamoth speed it cuts out on)
So if you are honesty and for realsies getting wrecked by (normal, not lava related) collissions that your welder can't reasonably keep up with, no harm sticking with it if you do not need one of the other modules more.
Keep in mind there are a few unique resources only the drill can get at. But I think right now that is only two things. Kyanite (Upgrade material the thermal reactors on the Prawn and Cyclops, and Prawn jump jets). And big Ion crystals, to drill up sweet, sweet ion bits for more ion batteries, crafting any strat artifacts you still need, and eventually part of the rocket ship.
Most of the time I run around with the Perimeter Defense, 1 Storage, Solar recharger, and the pressure compensator, just as default. But I've been doing a lot of swapping lately. I only use the solar upgrade until my base has enough power that I don't have to worry about midnight blackouts if I come back and dock after sundown (and that's a lot of power, but I get there eventually). I don't take the pressure compensator if I'm only skimming around the surface biomes looking for Titanium scrap (which is often).
Anything I don't take with me, I replace with a Storage upgrade. Too useful. I almost always keep the Perimeter Defense because it can make almost anything (except Ampeels or Warpers) leave the area permanently or at least for more than a few seconds. Very handy for "jeez I wish these endless biters / bleeders / sandsharks / stalkers / bonesharks would just give me some breathing room for 30 seconds to get out and have a look at that thingy there!". As has been mentioned, you also MUST have it when in Reaper territory. The Hull Reinforcement module will help you survive more than 2 Reaper grapples, but with the Perimeter Defense, hopefuly you won't need to survive more than one.
Sonar is very situational and pretty much only if I need to trailblaze down into the Deep Grand Reef or Lost River. I used to use it more when Bonesharks were light-sensitive (as they're supposed to be, but aren't currently), to explore their biomes without lights.
I almost never have a use for the torpedo system. It's just too hard to hit with, and has basically the same results as the perimeter defense shocks... except it only affects 1 critter at a time usually, and isn't as reliable at making them flee.
My biggest Seamoth wish list is now a Storage Upgrade Mk2 and Mk3 in the Modification Station so you can get 2 or all 4 of those storage compartments while using 1 upgrade slot.