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Yeah, looks like all of the Sentinels are bugged right now. Hope they'll fix it some time soon -)
I have found the walkers can stomp and dmg you underground if you arent far enough down.
I have also found the 4 legged one can literally charge through terrain, so if you arent far enough down they can start a charge and teleport to your location if its within the max range of thier charge.
And the drones can and do spawn under the world, tho usually them shooting you while you are underground is because they can still hear/alerted to you and are flying into the ground trying to get to you, which allows them to sort of catch glimses of you without them actually moving through the ground.
you can test of these yourself with the terrain manip tool, i figured the dogs one out when i would create terrain around manufacturing facility doors, and they would just appear ontop of me, until i started making the walls stupid thick and they couldnt perform the charge cause i was out of range.
I actually found a way to get them off your tail, when you're going underground. Just don't start to dig in until they will appear, then try to get somewhat far from them and then just dig to the bottom and then just continue dig horizontally, away from them. In most cases they struggle to keep up and leave after the countdown ends.