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With the largest ship and max skill set you can have up to 8 crew members at a time.
By default without any skills if you have a ship that is capable of it I think you can start with like 4 crew members.
The starter ship is really small, so you would have to buy/build a bigger ship to get more crew.
Weapons give .5 each individual module (so if you use dual lasers you'll give 1 crew slot) if I recall correctly
Highest crew count I could get was 13, but useless since skills only allow up to 8 lol
In the ship Builder, in the bottom, it'll say Crew Size
3 crew is the max without increasing the Ship Command skill in the social tree. This means you can have 4 crew if Sarah is one of them and the ship has 4 crew or more capacity.
As mentioned, in ship builder you'll see both Crew and Crew capacity on parts.
I just added more weapons and a battle station to increase the crew size till I found out about the skill cap.
Sarah does not count. That is by design. Nether will your companion. But you won't be able to "assign" a companion to your ship if you have reached the max number. But they will still be on your ship as you travel. Sam's annoying daughter does not count ether.
So, I would expect that you may have a crew of 10 at least.
I found the only way to verify passenger size easily is to check the mission terminal for a passenger trip mission and see your max passenger size there.
Companions are passengers on your ship, not crew.
So yes, you could have Vasco, Barrett, Andreja, Sam, and Sarah on Board with Sarah not counting and one of the others there as your companion. This would require a 3 crew ship. The adoring Fan fills a passenger slot when on your ship.
There is no achievement for having 10 "crew". The achievement you are thinking of is for recruiting 10 "companions", which doesn't require them to be assigned anywhere, neither to a ship nor an outpost. You just have to recruit them.