Trying to remember a sentinel fusion (McShep with Sheppard as the sentinel) with the John Sheppard from 'Vegas', with the story starting after the end of the episode and they discovering about he being a ilegal sentinel when rescuing him, in a world where sentinels are basically slaves and implanted with a device who forces them to artificially bond with a chosen guide. Rodney receives the control of the device but waits to use it until he manages to tamper with the implant to stop working but continue to fool scanners, to give John the chance to bond naturally with him.
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roo1965:
Collison by rabidfan
Found with the help of
roo1965:Collison by rabidfan