I don't understand the context the article uses as basis for saying the structure of the Roman Legions was complex at all. The Romans didn't have the concept of birth citizenship as we understand it today. Being born within the Roman Republic/Empire didn't automatically make you a Roman citizen.
Citizenship was a social rank that could only be earned and was the base requirement for anyone who sought any advancement in Roman society. Among civilians there were four basic categories, foreigner, slave, freeman, and citizen. While a legionary could be either a freeman or a citizen, only foreigners could be auxiliaries, slaves were barred from military service, but could earn citizenship by other means.
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