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However, there's a far better option. If you select their inventory you can drop their gear instantly, so you can use zones to tell the animals to go to the appropriate stockpiles and then unload everything instantly instead of making pawns haul it around.
I do this:
1. Create a zone, “Caravans” or something suitable. It should be centrally located.
2. Use it to SEND and RECEIVE caravans, exactly because it is centrally-located.
3. If it’s a short trip, the animals’ zone does not change when they return, they’re still assigned to “Caravans”. So, just drop all items there and send them away from this zone after it’s done.
4. If you have efficient hauliers, e.g. dogs, etc, the items will be hauled to appropriate zones.
This is basically a “set & forget” system. My “Caravans” zone is indoors and no other hauliers have access except dogs. Others tend to eat the dropped stuff. Be careful of beer, dogs take them.
If there are no open storage spots or if a colonist is interrupted while attempting to empty their inventory, they seem to not re-select the job of emptying their inventory again until they are put into another caravan and return to the colony. This is commonly an issue if you draft your colonist while they're unloading.
Mods such as Pick Up and Haul can create similar issues.
Unfortunately, the solution for all of these scenarios is to manually empty the animal/colonist's inventory. I don't know a better workaround.