I like this solution more than restricting the skills though, so if possible I'll try that

Random skill selection:
In the first game, Survival granted a small HP recovery (10 HP at 83 Survival) when using the Defend action. Now, the combat system might be a little different, but adding some kind of regen (HP or otherwise) may be useful. Or it might encourage people like Franka to spend 3 hours in battle to regen to full every time.If we use 4 non-combat skills, and we use Arcanologia suggestion, we would have:
Science (Science+Engineering) = more damage against robotic targets
Stealth (Stealth+Sabotage+Survival) = ?
Psionic (Psionic) = bonus to morale/psychology statuses in combat
Knowledge (Charisma+Culture) = more damage against organic targets
Only one is Stealth which I'm dubious since should be something different from generic increasing attack/speed/etc (for that there are the base attributes already). But 3 out of 4 already could work
Maybe instead of Stealth I should group those skills into "Survival" or something else, and maybe when a party member is about to be KOed in battle, could have a % chance to regain a small HP and fight again? could be fun...