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Craft sentience catalysts at the drug lab or machining table, and apply multiple catalysts to the same animal to improve the effect.
This means you can for example get a horse (or a helixien slug) up to advanced trainability.
Known issues
Penned animals still keep the pen requirement. This is a bug on vanilla as well. I might try solving it in this mod if Ludeon doesn't tackle it themselves.
https://https%3A%2F%2Fdiscord.gg%2FQ38YF9VzgB
Mod Discord
[discord.gg]