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Just driving - not so bad, maybe 1% increased lifetime cancer risk
Digging a hole, sitting in it, and generally getting Chernobyl soil on and over yourself - Radiation burns, hair falling out, vomiting, 20% lifetime cancer risk per 48 hours.
However, the goal of putting Russian forces in Chernobyl is in fact to kill those forces. Putin wants to eliminate the Tatars and Bashkirs who have high birth rates before it's too late and the high-casualty armed forces are disproportionately these groups.