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This has been a point of confusion for my group and I. When deep striking, do you roll for mishap if the unit arrives in difficult terrain, or is it only dangerous terrain?

Neither, there is a specific list, Landing off the table, in impassible terrain, on top of a friendly model, on top or within 1" of an enemy model.

You only mishap if you land on impassible, within 1" of another enemy model or if they would deep strike off the table. Deep striking treats all difficult terrain as dangerous.

Difficult terrain counts as dangeous terrain if you Deep Strike into it.

But not as impassable, correct?

Correct.

Which means you must take a dangerous terrain test for each model that deep strikes into difficult terrain.