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Here's how I would re-introduce Pretenders: small human figurines that go inside the robots. Lore-wise, it would be similar to anime Pretenders (robots turning into humans) except the robot mind is transferred to the human body, leaving the robot body inert or running on subconscious AI. Using these bodies they conduct espionage, join human allies in places their true forms could never go, utilize human-scale technology, and occasionally have complicated relationships with humans. The figurines would be just a little over Titanmaster size, and evocative of the old shells. The chamber inside each the robot would be a bacta tank/autodoc situation, capable of repairing or even fully recreating bodies (given plenty of time and energon). Oh god damn it I basically recreated mpreg Scorponok, I need a drink.
Of course no way of doing Pretenders would ever make everyone happy, so feel free to call me a dumb poopyhead or whatever gives you a feeling of control over your life.