% If you notice, the Vex only attack non Guardian populated areas. The Sol Divisive (Black Garden Vex), are an exception, as they're probably just trying to defend their turf or get closer to the Pyramid. They avoid direct Guardian confrontation altogether as Light cant be simulated.
So of course they wont risk sending the calvary on the unknown. One titan mauled millions of the things. Imagine what a whole city of them could do on their home turf. %
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I can just imagine it now: the Vex invade only to be brought face to chrome dome with and army of Titans waiting for them. If they had faces, it would be priceless watching them run away as strikers charge at them, hammers rain down from above and shields bounce them about.....can we let the Vex invade just so I can watch that with some popcorn? As a Hunter, I myself would just sit in the back watching and picking off any of them that try to sneak around.