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If I'm drilling for resources on surface biomes, I typically just go with 4 storage modules and two drill arms. In the Lost River/final areas, I'll swap in the depth module and propulsion jets and change one of the drill arms for a grapple arm. I keep the thermal charge module in the Prawn's storage but only equip it if needed.
1) Unless you stay near the surface you shouldn't even use the Prawn without the Grapple arm. For example if you drop down to the Jelly caves, you'll possibly die of thirst before finding your way back up without the grapple. This goes for some other deeper areas.
2) Mining arm because that's how you find most minerals from Lost River onwards
3) Jump Jet improves Prawn navigation by an amazing degree, it actually makes it pleasant to use. Spiderman swinging from the cave ceiling as RequiemsRose said.
The heat recharge seemed good in theory but having a spare cell in your inventory is probably a better use of upgrade slots.
I also installed a mod to add a sonar like on the Seamoth, but that doesn't count.