In general, for someone with any of the birthday pets, it will be more beneficial, although slightly more RNG dependent to farm Totems with set pets, the Voucher Item: Totem of Nulgath quest is more of a Gem/Totem supplement in the case of the pets which requires you to kill Makais. Unless you somehow only need Totems and have everything else max stacked, which would require some insane RNG on your end, you would always be better off with using the pets IMO, you always need more Nulgath resources of any kind.
Maybe the Drone has a lower drop rate for Totems than CVKS, I can't confirm or deny that, but with CVKS I get Totems at about the same rate as Uni 13s and even Uni 13s which tends to drop at least 1 per 10 turn ins can sometimes take 15-20. Lower drop rate items (Blood Gems, Totems, Uni 13s etc) always varies a lot more than higher drop rate items which makes them harder to pinpoint as well as giving inconsistent data to work with, you have the people who claim they get a lot of a certain drop and people who claim they get little to none of that same item, from the same quest. Take my Uni 13 rate as an example, I expect it to drop once every 10 or so turn ins, but whenever it strays a little too much from that, I have a tendency to think to myself "is it bugged?" or "did they decrease the drop rate?", when in reality I know that it's just bad RNG.
And if you're using 60 Essences to get Gems instead of using the pets, you are completely wasting your time.
It depends on your needs, I for example have had no real use for Totems lately outside of the 4 Juggernauts which I usually got the 3 Totems back in the time it took me to get another Non Mem Voucher. But because of my bad luck on the Void Spartan quest, I needed so many Gems that every time I had the chance to turn in for Gems, I did. I rarely had the opportunity to do it though, because I was turning in Juggernauts whenever I got my Non Mem Voucher to not miss any potential Non Mem Voucher drop on CVKS.
Also pulled most of the void Spartan set last night on one lucky turn in (armor, 2 weapons, both helms, 1 cape)
That's quite the luck you have, I wish I had that, but instead I spent 127 turn ins getting the whole set, a good 80-90 of which were trying to get the Armor after having gotten everything else from the quest.