As a level 73 German player, I have some idea of what support is good. My current configuration is 2 restorers, 2 repairers, 1 engineer, and 1 seaman. Of the three, the two that are probably more important are the restorers, followed by the repairers, and then the engineer. I'm not really sure how much of a difference the seaman makes.
The fact is that soft defense makes you much harder to kill. My O Project has a base of 21600 dp or so. With 500 soft defense, it usually takes more like 35000 damage to kill me. If I had 650 soft defense (which would be the case if I had another restorer) I would most likely require 40000-45000 damage to die. Not to mention that a high SD keeps you at high DP through this, meaning you are fully mobile.
If you don't have a high SD your repairers won't help you much. You still take damage, and your SD will kick in, but it will take a long time to burn down to the point that you can start repairing. The more SD you have the faster you burn, and then you can start repairing.
As for engineers; I've never really noticed that large a difference from using them. My level 65 engineer boosts my max overheat by 1, and allows me to do it for longer, but it's just not as important (in my view) as having a good SD.
So personally, I would recommend you use 3 restorers, 2 repairers, and an engineer. Or at least plan on getting that many.
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