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For income, just put a tax center on every world with 200 or more income per cycle. Prioritize taxing those with higher base income over lower. Worlds with the little credit icon next to them are worlds that gain double the trade port bonus, so put trading ports on those. Trading ports on worlds with 5 or more planets linked to them is also good.
Legitimacy is basically down to how many planets you own, with a few planets granting a bonus amount. The more planets you have, the more legitimate you are. As you take more and more planets as the remnant or a warlord, occasionally legitimacy heroes will join you, starting from weaker heroes and progressing to high tier heroes. The hero you get in each 'tier' is random from a pool, but will always progress from T5(weakest) to T1(strongest), after which it'll be random. You'll get an in-game speech text thing to let you know when you have a legitimacy group unlocked, which can be bought from the government options tab.
In short, for legitimacy, just keep conquering worlds to get more heroes.
When an imperial faction has no warlords or SSD's left, and has 3 or fewer planets remaining, all those planets and units they have left(including heroes) will be absorbed into the highest legitimacy faction. This is called integration. If you integrate 2 other warlords or the galactic empire, and it is at least era 4, you can initiate 'dark empire' to get access to palpatine reborn and effectively become the successor state to the galactic empire.
For ship crews, every ship has both a currency and crew cost, listed on the stat card. The academy ground structure adds +10 ship crews every cycle. Generally you'll only need about +30 crew per cycle unless playing extremely aggressively and recklessly.
For infrastructure, it's just to make sure you actually build stuff on planets. You don't need to build up every slot, just a couple buildings and a station should give you enough to stay out of the 'red.' It's to prevent snowballing too fast, applying a penalty to build times/costs if you dip into the negatives. If you keep your worlds almost entirely built up, you'll get a small discount and build speed bonus, but don't break your back to try and keep it up; it's mostly just a 'catch up' for factions that start with fewer planets.
And finally, the Assertor is in Eriadu Authority's tech tree. Eriadu is a very top-heavy faction that specializes in large capitals in space, and slow heavy armor advances on the ground. However, this comes at the cost of their small frigates and light units being fairly poor, making them inflexible and stubborn: vulnerable to bomber swarms in particular until they eventually get the IPV-4.
I did not do that for the longest time and had no idea what was going on lol
There's also some buttons on the bottom left that will display info of game systems and hero traits. Command Level I is highest. V is lowest.