Newcomer / Intro What can skimmers see?

Not sure. Ones protecting crash sites and the other procedural POIs used to have "scan beams", thin blue lines you could see emanating from the skimmer to the ground in a sort of conical array as if they were probing the area beneath them. I assumed this had something to do with their detection of your SRV entering the exclusion zone but I'm not sure, might've just been a design touch.
 
If you mean in a settlement, if you steal something or hack something? No. They will only attack you if the alarms go off. So don't let that happen :)

Note that some downloads and other actions will set off the alarms, unless you've disabled them.
 
In Horizons I routinely pick up & carry or push cargo canisters out of the trespass zone with my SRV (if it's on an incline they will roll away). As long as I get myself out of the trespass zone in time, they don't do anything. I think I've even bumped into them on occasion with no reaction.
 
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