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This is only for Defend planets, not liberation.
The spore towers always have some round the base.
Higher difficulties = more spawn spots.
All I know is eradication and escort civilians, and these missions don't even have rare samples.
Also, the maximum amount of rare samples is 25 in Helldive difficulty.
No need to be 100% thorough, I normally play on diff 7 and it's normal to come out with 15-20 commons and rares on a good sweep of the map.
Been waging war on Malevelon Creek nearly since I started.
You have a Sporespewer side objective? -> Kill it and kill the bugs that are there and loot the samples that are there
Some Pois have rare samples around them or inside of them.
The One mission where you have to probe the ground always has a few rare samples around the mission perimeter.
The Excape Pod side mission mostly spawns with samples around it.
Most of them look more or less like this:
https://steamcommunity.com/sharedfiles/filedetails/?id=3191797176