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Knowledge is power, ignorance is bliss
(sh.itjust.works)
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If you want to collect samples and SC at a sensible rate you need to look for them, otherwise short and speedrunny missions are the way to go if you want to get medals.
Yeah it all depends on what you're looking for. If you speed run everything, you'll end up with more medals, but less samples and super credits. I'm not sure how requisition slips and experience work out - my guess is probably fairly balanced since you get bonuses for side-objectives but also mission completion and mission time.
Couldn't say for sure on the requisition slips, but I think the bonus for time plus faster cycle rate works out better for XP doing speed runs. Probably for R slips as well, but especially at higher difficulty I don't know how the bonuses stack