Is it necessary to use the rigid links to connect the beams with the tube, or are they already connected because of the offsets?
If you use offsets it´s not even necessary to divide the beam in 2 parts.If bars cross each other in the same plane and this below is marked on structure model(which is by default) , then Robot will automatically create an "invisible" calculation node

In the red circles, why is the IPE crossing the tube? Is the IPE profile supported on the pile?
In the model you sent , Offsets are active(defined) and rigid links are incomplete(no slave nodes defined) , so they are useless . So ,yes Ipe profile is supported by pile.
Why is this deformation going upward (upper beam) and downward (bottom beam)?
It seems "exact deformation for bars" is a different from what shows mesh displacement map
. I don´t know exactly why( maybe official support?). I would go with mesh displacements. Also check node displacement table. Uz(vertical) displacement shows only 3mm for both upper and bottom nodes

If we don't use "offsets", how could we connect the beams to the panel? Should we divide the beams in many parts to connect them to the mesh panel through rigid links?
Yes , divide(create nodes along, don´t need to divide the bar in pieces) the bars according to your mesh size . Then copy these nodes to the panel plane. Use full rigid links to connect them. Mesh the panel
You can use Romanich excelent Spider tool to make your job easier with the many rigid links. Search the forum for it
PS- Offsets are treated as rigid links internally
Rafael Medeiros
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