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Ideally though, you probably want a few more. Gunner is a safe role to leave to the AI. The bots do a fine job there. Engineer is decent as a bot, but there's some more complex situations where you'd rather have a player. I think there's some AI tweaks that can improve that though. Scientist, again does fine most of the time, but there's a few situations you would much prefer a real player manning it. Unfortunately, that's not something AI tweaks can handle, as those situations are mostly passing on information to other players, which the AI has limited ability to do. You can, however, have a player just take over their job for critical moments. The pilot bot is mostly fine, but you may prefer to just not have one, and the captain flies the ship instead. You lose out on some skill points, but you can handle that by tweaking the pilot to just man a turret instead of flying the ship. Then captain has to be the host.
So at bear minimum you have the captain doubling as pilot, with a second player playing another role, but prepared to take over the scientist or engineer jobs as needed, with bots for gunner and either scientist or engineer.
If you get up to 3 players, you can just do captain, engineer, and scientist with a gunner bot and pilot filling in for pilot.
That said, someone almost always wants to play gunner, and that makes things a lot tougher if you're understaffed, because the bots don't handle any of the other roles quite as well as the gunner bot does.
Also note that faction plays a role as well. AoG tends to have a lot of non-combat or planetside missions available, as well as stealth options on all their ships, making it much easier to run with a small crew. I've even done solo, no bots pretty successfully with an AoG ship before. WD on the other hand is heavily space combat focused, and you will feel the lack of actual players a lot more as them. CU is much more in the middle.
You also want smaller ships with a small crew, so it's easier to pull double duty if need be. The last thing you want is having to run all the way back to the engine in a Roland because you need to dump fuel cells into recharging programs. The Intrepid, Stargazer and WD Cruiser are all good options for this. Though last I checked the WD Cruiser is also just kind of a weak ship overall.