The only time I've seen footsoldiers wielding their 1-hand sickles was with the two I bumped into masquerading as travellers. The footsoldiers that spawn have always been the bow-wielders. Usually them. Sometimes blademasters, but usually footsoldiers.
Though apparently those travellers sometimes initiate conversation with you without you wanting to talk to them. Happened to my sister. I'd avoid getting near them at all, if you aren't equipped to fight.
Tbh the most annoying part of it is when you're trying to take pictures of wildlife for your compendium and one has to appear and scare away your bird.
I got the same guy to spawn twice in a row, so there really is no cooldown, no.