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Depending on your class, but with infiltrator, upgraded sniper skill, the widow sniper, as well as armour-piercing ammo and assassination cloak all combined, you can take out the Harbinger with a roughly 2 shots.
For the tower defence part on Horizon, my favourite spot is on the left side (when entering the area) on the elevated platform with access via 2 small sets of stairs. You can see the whole map from here and there's a guard rail to hide behind. The only thing to worry about is when the husks climb up behind you and when the Praetorian comes its best to find a large section of boxes to circle around and whittle it down slowly.
This is what I did too. Although I think on the last wave I went over to the furtherest part from the entrance and was just picking people off with the sniper.
The praetorian there was a truck in front of the platform you described, which I could just back around while shooting. Didn't get touched once on insanity while doing that.




) or something along those lines.....seemed to be pretty comprehensive from what i could gather.

