Just wondering this because I Joined late in Year 2 and never knew about sleeper until I thought it was too late. So I want to clear the air for myself and other players.
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Yep, you sure can. See [url]http://planetdestiny.com/taken-king-sleeper-simulant/[/url] for the steps for the quest. The tricky part is the DVALIN parts since they are completely random as where and when they drop.
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Yes you can still acquire it. To start it there should be a mission on Earth called the First Firewall or something like that. It's been awhile since I've looked. Anyways play that mission and you'll get the quest.