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This question is more relating to actual doctrine rather than the in-game implementation. If a unit (mechanized/armored) is defending a static position and one of its vehicles has a mobility kill (but retains firepower and sensing capabilities), will that vehicle's crew typically remain with the vehicle or abandon it?

As it relates to the game, I observed several cases of units that I had defending certain locations experiencing "fallen out" as opposed to "dead" vehicles, and was wondering what would happen in real life in such a situation.

Two items here. First, fallen out is a combat ineffective state for subunits. While not killed or outright destroyed, there subunits no longer contribute to spotting or combat. As Jeff has noted for item two, in reality depending on the type of loss or damage, immobile subunits would setup as an observation post while waiting for later recovery if possible.