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All that said, Ranger > Vanguard > Knight.
Side note:
The Ranger and Vanguard are side-grades in my opinion.
Vanguard's siege mode lets you lob artillery shells using it's ammo (very quickly, but this is also why it carries up to 6k ammo) with precision to hit weakpoints on massive targets, plus the enormous ammo reserve lets you keep fighting for a long time if you don't siege up.
The Ranger has enormous maneuverability and auto lock on missiles for large+ enemies, so I find it useful to zip around the map with, taking out Tanks and doing supply runs to forward positions... or just looting post fighting.
So I carry both. The Knight essentially has no advantage over it's two later upgrades, which is unfortunate. If the Knight could be deployed more times per tour, or redeployed if destroyed or something, I'd give it consideration for sure.
Vanguard has splash on it's machine gun and a ton of ammo so they're great at mopping enemies automatically. The Ranger can burn through it's ammo supply very quickly if it's firing nonstop. Vanguards are better for everything before the boss in both automatic and manual, Rangers are great for the boss in manual.
Its alt fire is pretty much a 30mm twin barrel.
The Ranger on the other hand has pretty much CIWS as the main weapon.
The alt fire has huge AoE but very short range (early drop).
As for their special skills:
The siege mode eats a lot of ammo (~1k ammo per shot)
The homing missiles are basically free.