I want this too. There is another horde like this on Venus. It's in the istar academy in the back, where vex are fighting fallen and a crashed fallen skiff is in the middle of the map. Every 15 minuted or so, a huge battle ensues just like on earth.
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That's where I got my first legendary engram. I always figured they were just respawning really fast. It makes sense now! Haha
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Eventually that Fallen captain comes out of the building and one or two minotaurs spawn.
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And harpies. It gets crazy in there.