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Honestly, in my mind it all comes down to what you want your sci-fi to be. Gundam has big robots because “Minovsky particles” mess about with sensors and fusion power plants allows for huge outputs and limited anti-grav (oh, and ESP…). Hammers Slammers has big tanks because beam based weapons are line of sight and anything flying will be nailed (and there is a technology limit imposed by the writers’ experiences). Heavy Gear has small robots because they’re cool and an evolution of construction units that are more mobile in many settings that tanks are not, though tanks are still heavily used because they can have bigger guns and thicker armor.
Having lots of scouts and calling in support only works if ECM isn’t an issue (wouldn’t work in Gundam) and if the enemy are grouped enough for it to not end up costing an arm and a leg to blast them all (if economics are an issue), especially if it’s COIN warfare like in the Stan or Iraq. Having a massive armored force that is rolling out to confront a small force of recce vehicles backed up by ortillery and whatnot sounds interesting in theory but would probably not be fun to play.
But as a friend of mine that was a Stryker commander told me: “even though we have sensors galore we still have to put our heads out.” He said that there is a time and place for the sensors (thermo works great at night and day, but can’t distinguish between people in a crowd without true color) and a time and place for the Mk1 eyeball. He hated being buttoned up going through a city because you had to be able to see who was near the vehicle and sensors aren’t full 360 all the time.
I’d say if you want them to stick their heads out, do it.
"I saw this in a cartoon once, but I'm pretty sure I can do it..."
