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I ended up using the quad legs, with two songbirds the starting pulse blade, and a bazooka. Topped off with a pulse armor extension.
Ended up taking a few tries, but with floating above the first phase and keeping it staggered, until the second phase it worked out really well.
I really need to learn how to make use of quad legs.
With the right generator and booster, I was able to hover under that bridge and never get hit by the lasers. It's now in my saved rotation for boss fights.
Literally just beat this. I didn’t feel like my build was particularly good but… Burst assault rifle ransetsu-ar Pile bunker ashmead Missile launcher p05mlt-10 Dual missile p31duo-02
Head melander c3 Core nachtreiher 40e Arms melander c3 Reverse joint legs nachtreiher 42e
Booster p04 Fcs p05 Generator VP-20s Expansion pulse armor
I made the commitment to play exclusively midrange weapons (effective range 130-260) without melee on my first playthrough.
This boss felt like bullshit. Balseus was a challenge, this was simply a matter completely changing your build/playstyle, or you're gonna hit a wall.
After ~12 tries, I google a build: tank base (which I swore to never touch in my first playthrough) 2 gatling guns and two songbirds.
With that, completely melted the boss on the first try. It was trivial, just hit it with the songbirds and continue building up stagger with the gatling guns. It felt like bullshit.
I know that maybe you're supposed to adapt and slightly change my build, but everything should be viable and fun.
If anyone with a mid-range built (no melee, only bipedal) was able to kill it, would really like to know how.
I just beat it with what I would consider mid range, I did use the starting blade for critical hits though. Mostly being in the air a lot is what helped, full blowing the altitude to avoid the claw attacks really helps. 
I beat him last night in about 6 tries with a super lightweight build, starting sword in legt and the pulse machine gun in right.
I just never let him get away from me and stayed point blank the entire fight. With high speed you can weave between the missiles.