[Wyrm Prime] definitely sits in the top three sentinel companions, ([Nautilus], [Diriga], [Wyrm]). That's thanks to it's exceptionally high shields, a solid support precept, and a very good rare precept from Simaris.

Crow dispersion is a bit annoying, but still a solid precept as long as you're not planning on using melee. It blasts away any enemies that get too close, and with [Manifold Bond] it procs status effects as well.

[Reinforced Bond] is pretty great on [Wyrm Prime] as it has enough shields for 100% uptime on the mod as long as you use [Calculated Redirection].

[Negate], is a pretty useful mod, as it removes a status effect once every five seconds, this doesn't stack with [Manifold Bond], which seems like a bug but is possibly intended behavior. This pairs super well with [Guardian] which will keep you safe with shield gates.

Overall [Wyrm Prime] is a top sentinel, definitely more defensively oriented, with status removal and knockbacks. Do not use it with any melee frame! ([Diriga] is way better for that anyways.)