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The Specular file is:
Red - recolour map
Green - Spec
Blue - Metal
Alpha - Gloss [inverse of rough]
Normal is:
Red and Green - normal red
Blue - emissive
Alpha - normal green
PBR texturing is half art and half science. You need to get a feel for how different values look in-game. Stellaris' metalness for instance is a little different than how Blender might render it.
Keep in mind you can make changes to textures during the game and reload with the console command:
"reload texture"
You can look for any PBR based texturing tool. On the cheap though, if you look for a height to normal map converter you can 'easily' make a greyscale height map from your textures in Photoshop or something and then convert it that way.