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Nomad; go-to for general purpose run around and scanning. In my current loadout I have all slots filled with tech so there is no room for cargo. fast and good over rough terrain and water.
Nautilon (sub); exploring any water planet. Useful for find water base fauna and sunken crashed ships.
Colossal; storing base building materials. basically a mobile storage locker, I do not have any extra techs installed.
Roamer, used sometimes exploring and mining. Current tech loadout has a few open slots that I keep I sometimes need, but don't want to keep in my exo suit.
Pilgram, I don't use this. It is a little faster than the Nomad, but I like the Nomad's over water ability.
Also good for finding crashed ships/freighters.
Roamer general purpose, finding monoliths/portals, enough slots for hazard protection and speed upgrades for stormy planets. Current goto only favored due to nerf.
Nomad favorite prior to Mech Nerf without hazard protection really fast. Great on paradise planets without storms.
Nautilon underwater crashed ship search.
Pilgrim and Colossus Base Storage.
Pilgrim for getting somewhere fast over land.
Nomad for fast travel over land and water.
Mech for gathering during storms or high combat situations (aggressive sentinels, looting depots, biological horror missions).
Roamer for searching for structures, or as a good all-rounder.
Nautilon for water exploration.
I don't think I've ever used Colossus, but i can see how it would be useful for gathering massive amounts of materials.
Tl;dr: it depends on the situation.
The only downside i can think of is how slow it is, but you can always use the jetpack which also recharge almost instantly and doesnt drain your fuel faster, and its maneuverability, i do say the movement is janky, but once get used to it, its not an issue.
As a hint it's the stuff that doesn't look useful at first that is of most benefit. Exosuit a bit storage deprived then the fast and cheap way to fix that is .....
Why would you waste time collecting minerals on foot?
You can rack up boat loads flying low and strafing. I seldom land on planet unless it's at a building with free parking. Then seldom get far from that point. Never use ExoCraft except in rare occasion like "Dreams of the Deep" mission.
But the Nomad I guess is what I'd think was the best.