Previous bounties, like kill the fallen walker, was based on proximity. If you were halfway across the map sniping you didn't get credit but if you waited until health was low and charged it, you got credit for the kill. Any chance you were pretty far away when Urzok died and you friend was closer?
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Did it again this morning from roughly the same distance and got it. PS+ back on so it was possibly that or I was slightly closer in proximity to him.