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The AI for the engineering and tactical stations seem to be fairly adept at the things you ask of them, but the AI pilot is garbage. You can only select one target at a time and tell it to engage, approach, avoid, and all that, but that's it.
If you're trying to get to a ship that needs rescuing but there's a mine in the way, there's no way to tell the AI to fly around the mine on the way to the ship. In fact, you can't even plot a course directly, you can only tell the pilot to navigate to, or away from, targetable items in space such as anomalies, ships, stations, and mines. But, if you had a friend manning the helm, then it would be no sweat!
Anyway, that's my two cents!
As the captain, you can take over any station you like during single player, so I assume it'd be the same with two people. The only problem with that is your AI crew will not take orders from you unless you're in the captain's chair so if you take over Engineering, your Tactical officer won't engage any new targets or even raise shields, until you switch back.
Anyway, you can play with only 2 players and the rest will be covered by the AI. Or you can meet other players in a lounge to complete the crew (the best solution, in my opinion). Happy trekking!
The only caveat is only one person can be captain. Only one person can sit in the big seat. The captain can't go to engineering and ask someone at helm to go to the captain's chair. Aside from that, everyone can move to any vacant spot, and back to their original spot again.