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I don't think you have to leave anybody to call the grunts. Once the appropriate alarm level is triggered the reinforcements keep on coming in more or less regular intervalls. You just have to make sure you're in a good spot (escape pod open and in reach within one turn) and adequately prepared to handle them in time (which usually means high level characters, good equipment like speed boots, and high tier weapons, if possible at least one that pierces enemies). In my experience it only takes one or two longer farming sessions to collect all the rare hats of one enemy class.
^