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Disclaimer: Everything I say here is my opinion of servant quality and usability. Other people are free to give their perspective and opinions on why they think some servants might be alright over others. This is mostly to give an idea of what servants will be in the game and what their pros and cons might be.
Note: If I a put a number like "10%/15%" that means the first number is the skill at base level and the second is at max level. Changed skills will be numbered in correlation to the skills they replace. ATK and HP listed is what the servant achieves at their max level.
Also remember servant scores are kept within scope of servant rarity. There's no reason to think me giving a 2* servant a 9 and a 5* a 7 suddenly makes the 5* worse. It's just kept within scope of how easy a servant is to obtain and what their benefits are for that with regards to their stats, skills, and various intricacies.
Artoria Pendragon (Alter)
4*/Unlocks for summoning after Fuyuki
Debuts in Fate/Stay Night
Originates from Arthurian Mythology
1. Mana Burst A: Increase own buster card effectiveness for 1 turn. (Cooldown: 7/5 Turns)
2. Intuition B: Receive 4/14 Critical Stars (Cooldown: 7/5 Turns) (Unlocks after 1st Ascension)
3. Charisma E: Increase party attack by 6/12% (Cooldown: 7/5 Turns) (Unlocks after 3rd Ascension)
Excalibur Morgan (Buster): Powerful attack to all enemies and increases own NP gauge (Overcharge: Increases amount of NP gauge gained by 10/30%)
+Good damage with a great attack stat and buster cards
+NP gain is decent with two arts cards
+Mana Burst being effective for one turn favors popping it for NP
+Clears hands with NP very well
+Does the same things her 5* version does for less party cost, less intensive resource costs, and a higher drop rate. Once grailed she even becomes stronger than her 5* version.
+Can do an absurd amount of damage with crit stars
+Rides a motorcycle and has a dog in Shinjuku
-If not on a team of servants with arts cards, it becomes difficult to obtain NP at a good rate
-No defensive skills whatsoever
-Once you burn through her NP and skills she becomes a beat stick with no contribution to a team other than hitting the enemy at that point
-Needs someone to generate crit stars for her since intuition doesn't net her a lot and her own crit gen and crit absorb are very poor so she needs to offset it with a massive quantity of crit stars
Overall Opinion: Alter is a pretty good gold saber especially if you're in the early game. She'll clear waves, knock around enemies especially lancers and berserkers. She's generally very valuable for grinding hands for EXP. She doesn't have a general use in a team though, a team has to support her due to how greedy she is with needing others to have arts for her NP gain to be decent and to pop her NP to do what she's supposed to do. She can work pretty well with someone like Mozart who pops his crit skill to get a ton of stars and piggy back off of his arts for NP gauge as well. I would recommend using her over regular Artoria if you can grail her to 90. If you're gonna use Artoria this is the one to use.
Artoria Pendragon (Lily)
4*/Obtained for free as a launch window gift or free servant from Saber Wars event
Debuts in Fate/Stay Night (This version in particular is from Fate/Unlimited Codes)
Originates from Arthurian Mythology
1. Intuition B: Receive 4/14 Critical Stars (Cooldown: 7/5 Turns)
2. Mana Burst A: Increase Buster card potency for 1 turn (Cooldown: 7/5 Turns) (Unlocks after 1st Ascension)
3. Journey of the Flowers EX: Increase NP gain by 10/20% for 3 turns (Cooldown: 7/5 Turns) (Unlocks after 3rd Ascension)
Caliburn (Buster): Powerful attack to all enemies and recovers own hp (Overcharge: Recovers HP from 1000/5000)
+Buster skill combined with NP makes for good waveclear
-A lot of the same cons alter has
-Except she has a terrible attack stat for what is a 4* servant
-NP gain skill isn't particularly amazing, when her NP's damage is dictated by her bad attack stat
-Everything she does is done better by Alter
-Despite the fact she is obtained for free, she is still a 4*. Meaning all of her ascensions, stat boosts, and skill levels are decided by 4* standard costs. Meaning you're gonna need an assload of QP and materials to fully level her.
Overall Opinion: Lily kinda sucks and I would honestly recommend not using her. Siegfried who constantly has jokes made about him is honestly better than her because he has a heal, massive damage boost against SOMETHING, and even a better np gen skill. The only thing Lily has going for her is pop np on lancer and berserker hands or random enemies and that's it.
4*/Unlocks for summoning after clearing Septem
Debuts in Fate/Extra
Originates from 1st Century Rome
1. Migraine B: Increase mental debuff resistance for 3 turns and self-heals for 500/2000HP. (Cooldown: 7/5 Turns)
2. Imperial Privilege EX: 60% chance to increase attack and defese by 22/44% for 3 turns and self-heal for 1200/3400 HP. (Cooldown: 7 Turns) (Unlocks after 1st Ascension)
3. Thrice-Setting Sun A: Grants guts that heals for 300/600HP and can be used up to three times for 5 turns. (Cooldown: 12/10 Turns) (Unlocks after interlude quest)
Laus Saint Claudius (Arts): Powerful attack to all enemies that ignores defense and reduces defense for 1 turn (Overcharge: Reduce enemy party's defense by 20/40%) (Can be buffed by interlude)
+Good NP gain
+Good health stat
+Really sustain, not Cu levels but pretty close
+NP ignores defense
-Attack stat isn't particularly bad, but it's not so good you can just hit stuff and be good. You need NP spam with her to get the most out of her.
-Thrice-Setting Sun A has possibly the longest cooldown of any skill in the game.
-Generally wants to be on arts teams to be at her most effective.
Overall Opinion: Nero is a solid servant if you want to spam the hell out of NP and kill stuff to death. Her damage output on its own isn't inherently amazing, but should the buffs on her second heal actually apply then she can get a pretty solid attack buff on her attacks. She has incredible sustainability making her good for extended fights, but hers isn't as dumb as Cu's.
Debuts in Fate/Apocrypha
Originates from Greek mythology
1. Beyond Arcadia B: Increase party's quick card potency from 18/36% for 1 turn (Cooldown: 7/5 Turns)
2. Aesthetics of the Last Spurt C: Greatly increase own crit star absorption rate for 1 turn (Cooldown: 7/5 Turns) (Unlocks after 1st Ascension)
3. Calydon Hunt A: 1-turn Evasion and increases np gain for 3 turns. (Cooldown: 8/6 Turns) (Unlocks after strengthening quest)
1. Beyond Arcadia A: Increases party's quick card potency by 30/50% for 1 turn. (Cooldown: 7/5 Turns) (Unlocks after interlude quest)
Phoebus Catastrophe (Quick): Powerful attack to all enemies and receives crit stars (Overcharge: Receives 10/30 crit stars) (Can be buffed with strengthening quest)
+Okay crit star generation
+Good quick support
+Evasion to protect self
+Arts cards and third skill make for decent NP gain
+Is one of the few servants with a full team quick cards buff and it's pretty strong especially after you upgrade it
-Attack stat sucks
-NP is alright, but with her relatively low attack stat it ain't gonna be doing much
-Second ability is basically worthless because Atalanta's damage with crits is not very impressive compared to others especially if she's on a crit team
-Offers nothing to most teams, she is pretty strictly a quick-team support character
-I do not like her artwork or design
Overall Opinion: Atalanta on her own is an incredibly mediocre servant with unimpressive damage, one worthless skill, and an NP that is best use to kill sabers and berserkers and that's it. Where she shines though is supporting other quick servants. Her quick card boost is super strong and make quick servants not only do more damage and pick up stars but also buff their quick NPs. Her third skill protects her very well and when fully levelled she can sustain a fight long enough to potentially pop her first skill again with her pretty health NP pool.
Lancelot Du Lac
Debuts in Fate/Zero
Originates from Arthurian Mythology
1. Eternal Arms Mastery A+: Increase crit star absorption rate for 3 turns (Cooldown: 7/5 Turns)
2. Protection of the Fairies A: Increases crit star generation rate for 3 turns (Cooldown: 7/5 Turns) (Unlocks after 1st Ascension)
3. Mana Inversion A: Increase NP gain for 1 turn and increases critical damage by 30/50% for 3 turns. (Cooldown: 7/5 Turns) (Unlocks after strengthening quest)
Knight of Honor (Quick): Powerful attack to all enemies and increases the user's attack for 3 turns (Overcharge: Increases attack by 10/30%)
+Strong against everything due to nature as a Berserker
+Incredibly high damage output, especially when doing crit damage
+Skills all favor crit stars meaning putting him on a crit team is going to make him ungodly powerful due to his buster cards
+NP generates a lot of crit stars especially when 3rd skill is popped and it also comes with an attack buff before the NP actually begins doing damage
-Health seems average, but then you remember he's a berserker so he dies very quickly
-No sustain abilities whatsoever
-Abysmal NP charge rate
-Cannot gain stars for himself outside of NP due to his three buster card setup, needs help
-A team needs to be built around him to be at his most effective
Overall Opinion: Lancelot is a very deceptive servant. At early levels he's just gonna seem like a worse Hercules, but in reality his DPS can achieve heights that even Hercules can't touch. When taking advantage of critical stars and popping his skills with them, Lancelot can dump a lot of damage onto the enemy team and when using NP in conjunction with second skill he can sustain himself the next turn with a lot of crit stars to begin the pain. Lancelot needs help to survive and needs CEs to get NP, but when he has these two things he becomes a wrecking ball of power.