Again i agree with having resource sinks..... but i don't think that player death has to be one of those.
That is to say, if your in game goal is to gain some X, it makes sense the in game's penalty would be to loose some X.
Capture the flag vs loosing the flag, gaining power vs loosing power, gaining points vs loosing points. etc. It's keeping victory and failure connected into a central concept. Synergy. There are different expressions of that concept, but the idea remains about the same.
Certainly while thumping, keeping or loosing the thumper itself can serve that purpose. But what about other possible mission types unrelated to thumping? What about just facing off against an enemy patrol? Or getting involved in some kind of chase mission? Granted there can be specific gain/loss related to success and failure for each mission type but Ideally there would be a baseline reward for victory and cost for failure that would act as a sort of touch stone for all types of combat. In other words, building in a standard penalty for death has merit.
I'd still like to hear why you want to avoid that specifically.
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Fabricio21RJ