Soloing wouldn't be the same without this scale. A pentatonic scale is a five-note scale based on the major scale. It just leaves two notes out. That's it. It's amazing how many styles of music make use of it, from Indian to Middle Eastern to Japanese to rock and metal and everything in between. No scale is quite as diverse.
To make a pentatonic scale, just play notes 1, 2, 3, 5, and 6 of a major scale.
I have never used this terminology with any of my students. It just adds complication. The two are really the same thing - a minor pentatonic just starts on the sixth note instead of the first.
Ah, the blessed scale 95% of guitarists couldn't play a solo without. The notes in parenthese are just extra notes you can shift up to. Call this scale "A pentatonic" because the first note is A. Or call it C major pentatonic or A minor pentatonic, I don't care. It's all of these. Personally I just call it A pentatonic. The following is also an A pentatonic scale, it is just another position (I call it the "lower extension"):
Pentatonics
Now there are more positions of this scale, but I just never learned them. There was really no need, I just play these two and they get me tons of mileage. For more complex solos, I usually use modes anyway. But if you want tons more "boxes" or ways to play this scale, there's lots of tutorials on the 'net. Knock yourself out.
This is where your extensive music theory knowledge comes into play. You should be able to figure out the key of a song. If you can, here's the rules for using pentatonics:
If you have no idea what key you're in, take heart. There are only twelve pentatonic scales. Play each one and eventually one will sound like all the notes "fit" or at least nothing sounds bad. Use that one!
Yes. Experiment. Depending on what genre you're in, certain nearby notes will sound good. Use your ear. Learn the basic scales well first, then try experimenting with notes outside the scale.