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Auxiliaries in the Roman Army were recruited from peoples that did not have Roman citizenship. As the Roman army was essentially based on heavy infantry, it favored the recruitment of auxiliaries that excelled in other roles, such as missile troops (e.g. Balearic slingers and Cretan archers), cavalry (recruited among peoples such as the Numidians, and the Thracians), or light infantry. Auxiliaries were not paid the same rate as legionaries, but auxiliaries could earn Roman citizenship after a term of service.
Source: Wikipedia
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