I'm all about patrol right now. So I know where the public events on earth and the moon are. On earth they happen alot in the main open area you first load into, in the rocketdrome right before the strike on that blue orb guy, and in open area by the hive cave. There's often at least one other person in all of these areas. So they're good no matter what level you are.
On the moon there's a walker in the round area to the right of the staring area, and right before the entance to the hive caverns with the three knights. The hive entrance seems to be the better of the two as there are usually more people around, but you'll need some help. It's a high value target and he'll run away if you don't kill him in time. The other one is a tank and he stays put so that's better to do solo or with just a few people.
I haven't really run into any on venus and I've only done one on mars. Does anybody knwo Where do they happen on venus and mars? Sorry if I don't have the specific names of the places right.
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Destinypublicevents.com
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Oh and Mars it's usually the VIP, go to the right of where you spawn for patrols, opposite where Vex and Cabal fight.
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Devil walker happens on Venus in that area where you go to kill the Kell something. Right in front of that cave guarded by a Captain. The other one is in the Vex area, kill the VIP before they make rounds. Usually a Minotaur.