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Title was left intentionally vague. Spoilers ahead.

So one of the first things to happen after leaving Earth is to recover a Cerberus infiltration unit. From the wiki, I know that EDI can inhabit the mech and become a squad member.

When exactly does this happen?

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I believe this happens after Palavan's moon. – Raven Dreamer♦ Mar 9 '12 at 4:51

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Early on in the game just before you leave Palaven and are asked to investigate the Normandy's strange behaviour.

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