I don't know whether it was explained already or not (if so, sorry in advance).
Does anyone know who does the r2's AI prioritize (who gets the foresight, not the stealth)?
I analyzed some videos on yt to find out some algorithm: he grants foresight to a "taunter".
But there aren't many examples where there is no one taunting so I've begun to wonder: does he give it to toon with "tank" role?
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Tank + lots of hp = tank foresight
Tank low on hp = r2d2 foresight if no other tank around
At least, from my experience.
I've also seen him cast it on himself when a tank is very low. AI uses this ability pretty well.
It does prioritize smoke Screen over the burn unfortunately.