What about a hybrid between "inventory system" and "farming"?
Instead of having to go through a menu EVERY TIME you defeat an enemy, it simply "tallies up" all the loot from dropped enemies as you go through the mission, and when the shuttle picks you up, it brings you to a single menu, where you can see ALL the loot you've picked up onsite.
Ex:
Shuttle drops you and squad off, have to defeat a Khet outpost: 1 tank, a dozen troops, grab the data.
You defeat the enemies, destroy the tank, and grab the data, but you also find a store of precious metals.
Shuttle picks you up.
LOOT MENU: 5 composites, 8 weapon fragments, 250 platinum. QUEST MENU: 1 data cache
Arrive at ship, can proceed to process the data (main quest) and then crafting (loot).
The idea is that you can look at the situation, like above, and see "Okay, lots of troops and mechanical things, so I'll likely find weapons and metals on this mission."
Another mission might have you clear out an alien nest, so you would see "Alright, looks like I'll get some biomass and a possible autopsy."
Yes, it sounds a lot like XCOM, but they did a good job with the loot and inventory system in that game. It was intuitive, and you didn't have to explore every single area to get the loot you know you got.
Basically, you'll get minimal loot/inventory if you just stick to the "main" path, enough to get you what you need for the sake of the main plot, but if you want the really special stuff, you'll have to explore.
This way you don't have to worry about "missing" a random drop, since it happens all at once at the end, and not before.





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