Thanks to Dale Mayes and Philippe Michel:
Original question:
Could someone explain to me why, when doing an inventory, sometimes the
tape needs to be loaded into the drive and sometimes not. If I have say,
30 slots to inventory and each tape has to be loaded into the drive to
check its label, it takes forever.
On other occasions, tapes are not loaded into a drive but Networker
still manages to discover what they are. What makes the difference?

Answer:
Make sure the "location" of the tape is correct before doing the inventory.

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