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We'll probably get a sample drone at some point like in HD1
I'm not sure how this is related to finding samples because you can easily find tons just playing normally, but that's how the armor with the scout trait work.
I normally play 4 difficulty
Enemy outposts or nests usually have at least one common sample. Larger ones usually have a rare somewhere
POIs like buildings usually have a common laying around
POIs with destructible doors or switch doors almost always have samples.
The extraction zone always has common samples
Also, the gem icon doesn't tag every sample, only those PoIs, so you still need to keep an eye out for samples in enemy bases and around objectives.