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It has been my experience that the ONLY way to "pick up" mech parts during "that" mission was to interact with "e" because if you shot the barrel you would not get the required part...
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I'll leave you with this:
I always shoot the barrels and have never had an issue with Quad Servos or Walker Brains including during this expedition.
OP sounds like you've got some testing to do... good luck
All the rest you get whether you loot or shoot the barrels. It doesn't matter.
Yes there are other ways to get quad servos, however the purple sentinels don't seem to drop any. Or if they do, it's so rare you better change planet and go for normal sentinels right away
https://imgur.com/a/Nq900c7
It drops a blue supply barrel.
Pick up the barrel.
Edit: you don't need to shoot the sentinel supply barrels, I never do.