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For Buddies, bring D-Horse or D-Walker. D-Walker will be destroyed the instant Sahelanthropus uses it's rusting move, but it packs far more firepower than D-Horse, obviously. A highly improved D-Walker will utterly destroy Sahelanthropus. D-Horse allows you to ride on him and easily shoot Sahelanthropus while remaining mobile.
If you still need more firepower, there's some vehicles lying around nearby guard posts (They're unoccupied, don't worry). Using them can provide extra damage, but they probably won't last long (Like D-Walker, they'll be destroyed when he uses his rusting attack).
Other than that, just avoid damage. If you're heavily damaged, put some rocks and hills between Sahelanthropus and you, go prone and press E to maximise health regeneration.
I wonder if modders can find the code that determines Sahelanthropus' health.
Whatever you do, DON'T waste time developing guided missile launchers, they are not as powerful, and have less ammo. Look at the Damage specs on the weapons. You won't need guided missiles anyway, he's mostly close enough to aim at him.
Also, try to upgrade the chopper as much as possible, because once it's taken out, you're pretty much on your own. It can be a good distraction to get behind Sahelanthropus and pummel him.
That said, the most important thing about this fight is the end phase where he can target and one shot kill you. You DO NOT want to be stuck hauling tail WAY down the hill to a distant supply drop point, so just before that phase, get to the opposite end of where you start from on the top part where there's a nice size pointy rock on a very slanted slope to run around.
You can't count on having enough time to pinpoint a supply drop, and from that spot, the auto dropped ones are MUCH closer. That rock is just the right size to circle around quickly, and take cover behind when he goes into the slo mo targeting phase.
I started the fight however by immediately running up to the right of him then behind him, as he's scripted to start off with his whip, which leaves him stationary for a while as it's stuck in the ground. Use that time to fire one RL shot, then empty the Hail clip, shooting the white tanks on his back.
In fact if you're quick enough to sprint after shooting your barrage, you can avoid his flamethrower and stay out of sight for two or three close combat barrages like that. Plus he often gets distracted by the chopper if he can't locate you.
When he starts up his whip attack that spawns rock spikes, immediately sprint laterally if you're in the open in front of him, or stay in one spot if you're behind large cover, and wait for the rocks encircling you to self destruct.
After numerous attempts, all ending being one shotted going for a long haul on a supply drop, I finally took him out in under 12 minutes for an S score my first time using that rock location for the final phase I mentioned. I also didn't have any Mobility upgrades or Battle Dress or chopper upgrades, and only level one Hail and FB MR.
The point being, if you're limited on what you can develop, the tactics can definitely make up for it.
Plus all the weak spots other people mentioned. Good luck
Ps: I'm joking =)
I really thought I'd suck at that mission but did quite well on that and extreme
Funny thing is I did everything on the extreme one the first time.. weird.