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The main thing is that you can't change the color with out mods, its default blue like the friendly drone and hardframe Minotaur parts.
The quickest way to get it would be to use the Save Game Editor and give yourself that reward from the Expedition it came with. You can then pick up the egg from the QS dealer in the Anomaly.
Ive seen companions fight sentinnels. It doesn't happen often. Most of the time they have the "scouting ahead" speech bubble and are just standing there, but I have seen those mounted lasers fire up occasionally. The one I've gotten to do it the most is one of those weird creatures that looks like it has 4 legs but still walks upright. i'm not sure what makes them more likely to attack though. I have all my pets to 100% aggressive, helpful, independent and i hardly ever see them attack senntinels but I have seen it
What doesn't happen often is it actually killing enemy sentinels.
But that's OK-- it is keeping its target busy and likely one of the healer drones as well, which makes it easier to kill off any other healers and then the rest of the mob.