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As for the question of scuta colours and emblems, there are a number of depictions of the latter in various sculptures, but colour is a complete unknown. The only extant artifacts are from rather later than the classical high-empire period most reenactors choose, so aren't ideal evidence. Several of them, particularly the large curved Dura scutum, quite highly decorated with very detailed paintings. Particular colours, whether they had specific meaning, etc. are details we simply don't know. The literary evidence for identifying colours/figures is dubious at best, and unfortunately, I don't think there are more than single examples of clear emblems that could be from a specific Legion. So there's no proper proof even of those- they could just as easily be personal or even artistic license put in by the tombstone sculptor. However, given no better information, most choose to see them as Legio emblems because it is the best information available.
So actually, there is no positive evidence that there were ever 'uniforms' for the Romans, even in much later periods. This is something that we will never know for sure.