For missions not returning to Earth, what configuration is expected for the final landing of the Starship on Mars?

Answer

It is expected to feature landing legs

The upper stage, when acting as a lander for missions not immediately returning, will utilize landing legs for settling onto the Martian surface, differentiating its final configuration from the Earth-return booster.

For missions not returning to Earth, what configuration is expected for the final landing of the Starship on Mars?

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