Zoat

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In early editions of Warhammer 40,000, Zoats were centaur-like creatures enslaved by the Tyranids; half of all units in a Tyranid army were required to be Zoats. Because the Zoats were capable of using tools and limited independent action, they were employed as an advance guard for the incoming Hive Fleets. They aren't part of the current army, but they did get a shout-out in the Horus Heresy novels, when a Crusade Fleet mentions having encountered "centaur-like" creatures infiltrating the galaxy.

They also made an appearance in WFB Storm of Magic, as totally badass, four legged monsters that kill people with vines.