Hello perplexedone and welcome to the org, enjoy your stay
In RTW units can get in and out of melee with surprising speed and so relatively few if any casualties. This is particularly so for cavalry units and so "rotary" charges (ie having a melee pocket that you charge in sequence with 2 or more or even just one cav units that you pull out after the charge to charge again) is a tactic that is particularly feasible.
Regarding infantry melee units that you seem to be asking about, they can be "blobbed" together ie they can occupy the same space and still fight at the same strength. This is actually not very good for gameplay as; some people even made a very big blob of units that was beating and routing each enemy unit in turn. This works paricularly well also with cavalry again, as cavalry is fast enough not to be bogged down from all sides so the flanking penalties can't become higher than the rate of loss and local outnumbering penalties the enemy of the cavalry is facing. Against the AI it is a tactic that can be pulled easily even with infantry melee units, i'd say.
Older incarnations of the game (STW and MTW) had in their engine a penalty for units that were fighting blobbed. Two units would fight at half strength and more i think wold fight at even less strength. This was precisely to prevent people from stacking their units and defeat the enemy army one by one unit that kills tactical gameplay.
In answer to your quetion, you can advance another of your units to the exact place the unit you want to substitute is and then, once the new unit is in and fights, you can just pull the first one out. This is feasible due to the blobbing being allowed. In that way, when the leaving unit turns its back it won;t receive casualties from the unit it was fighting it before.
In terms of tactics, the historical Roman tactic of tiring the enemy units with hastati then principes, then triarii, is not something that always works in the game. The reason this is not so, is because units fight better if you outnumber the enemy (there are morale and combat penalties associated with morale when your units fight outnumbered). This means that if you sacrifice your hastati line, your principes will be fighting outnumbered potentially and that puts you in danger due to both flanking possibilities the enemy has as well as morale penalties as mentioned.
Its better to actually use your best units up front in a melee fight. In this way you can rout the enemy's first wave of melee units that gives you a considerable advantage in battle. The only exception to this rule is when the enemyoutguns you (he has more missiles). In that case either use your missiles (javelineers and archers) or some fodder unit (town watch peasants etc) to receive the damage and then proceed with your melee units quickly to engage in between enemy volleys (or after the missile duel has ended if you can keep that for long ie you have equal missiles to the enemy).
There was a very instructive video of a battle where a Roman player defended a bridge against another Roman faction that he outnumbered and it was posted here in the collosseum, where you could see what happens when you engage the weak units first (the link is now deleted by the moderator unfortunately). The player in the video has some elite legionaires and lots of barbarian mercs and he put the barbarian mercs to fight at the bridgehead against the enemy legionaire melee units while keeping his own elites as reserves. The result was that predictably his weak barbarian mercs eventually routed and that made even his legionaires rout due to the outnumbering penalties.
The right way was to put the legions up front to fight and only replace them with the barbarian mercs as they got whttled down too much and to rest them. In a picthed battle exactly the same would apply, with the mercs being used to guard flanks, plug gaps in the line and also perform flank attacks.
Similary with early roman armies, use the principes or principes/triarii as your main battle line and use the Hastati to guard flanks, perform flank attacks and as reserves.
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