Can a Wealthy or Prosperous gathering mission crit and yield more mats?

I ask because if it can, it would be good to send specialist comps on those missions ... however, if it CANNOT, a specialist comp's crit chance is wasted and better spent on a Rich mission while a "Normal" comp does the Wealthy one.

Yes they can crit.

That being said, when they are skill level appropriate, wealthy and prosperous missions are more difficult than rich missions and therefore have a lower base chance to crit.

As a result, I tend to send non-specialist companions on those missions because they are also guaranteed success; I would rather send specialist companions on missions with as high a chance to crit as possible.

But that's just my preference.