tribūnus, -ī [2/m]: can have more than one meaning; in civilian politics, the word can refer to the tribunes of the plebs i.e. a political office available to the plebeians (the Roman commoners); in a military context – tribūnī mīlitum – they were superior officers.
https://www.perseus.tufts.edu/hopper/text?doc=Perseus:text:1999.04.0062:id=tribuni-militum-harpers
lēgātus, -ī [2/m]: sometimes a tricky word to “pin down”,
but it often refers to ‘envoys’ or ‘ambassadors’; in the literature, you will
often read of them being sent to negotiate. It can mean ‘lieutenant’ or
‘commander’ but has a far wider use.
https://www.perseus.tufts.edu/hopper/text?doc=Perseus:text:1999.04.0062:entry=legatus-harpers
dux, ducis [3/m]: commander; general; captain
imperātor, imperātōris [2/m]: can mean ‘emperor’ but, in the
military, it was a title awarded to a general who had achieved his first major
victory either by a declaration of the Senate or, indeed, by his own soldiers
aurīga, -ae [1/m]: charioteer
centuriō, centuriōnis [3/m]: centurion
eques, equitis [3/m]: horseman; cavalryman
essedārius, -ī [2/m]: [i] charioteer from Gaul or Britannia;
gladiator who fights from a chariot
mīles, mīlitis [3/m]: soldier
nūntius, -ī [2/m]: messenger
praefectus, -ī [2/m]: the person who "has been put in
charge" (of something) and has more than a military meaning; [i] in the
army it can refer to a commander, for example praefectus castrōrum,
the camp commander [ii] in Roman provincial management, the praefectus referred
to the governor of a province
sagittārius, -ī [2/m]: archer
speculātor, speculātōris [3/m]: scout; spy
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