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Unless you get a message that they are actually retreating the raid isn't over, they will continue fighting and so should you.
If you have a mod like run and gun this might change, I don't recall.
Yeah, that's exactly how I assumed it would work. Maybe I'm pushing the attack too hard to try and save colonists being carried away, so I draw aggro from raiders who would otherwise flee if none of my colonists were nearby. BRB, going to screw about with a test world.
I had a dozen or so colonists who were fighters, and four colonists to be bait. Bait would be sent into the raiders, while the fighters hung back. I wasn't able to tell exactly what triggered raiders to start kidnapping, but that wasn't what I was looking for; however, it did seem that they needed to take some losses. Initially, raiders would pass by downed pawns, preferring to go engage my fighters. Once the game decided that the raiders would start kidnapping, it APPEARS that each downed pawn will be assigned a raider, and the rest of the raiders will continue fighting for a relatively short period of time. In a real game, this may have felt like ages, and I may have returned fire, which might have locked the raiders in combat; in my test scenario, I had my fighters fall back and not engage the enemy. After a while, the remaining raiders did eventually turn around and leave. At this point, the raiders acted like they were fleeing - they didn't return fire, even when shot at, and my fighters were even able to path through the raiders without being targeted by melee (though, this may have been due to a stark difference in move speed; I gave my fighters archotech legs to be able to catch up).
I can't be sure about newer versions than i currently play. It used to be that this was a Goal for a Raid. If that's been changed to one that is optional or dynamic if they can't fulfill a different one in some way, I'm wrong. :)
Ah, found it: https://rimworldwiki.com/wiki/Raider
(Emphasis added)
So, basically, they had already decided to kidnap and started that before a full Retreat, I think. Does that mesh with the behavior you witnessed?
I'm not sure what determines the length of time between the raid achieving their goal and them ending the fight and walking away. The AI manager for this kind of behavior is called a Lord I believe and there is probably some delay between the Lord ending the raid and all the raiders getting their individual AI goal updated. Usually in my experience this is just a few bursts of fire at most.
All work as Astasia described, but I want to add a small side note about multi angle raids.
(Here I have to say again, this is my experience, and my game is modded to hell)
So about multi angle raids.
Those raiders act as individual groups, one of the groups take much dmg, decide to flee .. other groups keep attacking.
In ops case (IF it was a multi angle raid, and IF my experience is ok) one of the groups decided to kidnap who they can and leave, but the others kept fighting.
That's what I always thought, but I couldn't find any reference in the wiki supporting it. :( So, I figured it had changed.