As a Ranger, reaching and healing the NPCs is crucial for survival. For a WD, the NPCs are mainly there to worry about single enemies who managed to get around your overwhelming barrage of mind-controlled energy projectiles.
The second and third wave are triggered by the number of enemies alive. The 3rd wave appears when that number drops below 3 and it has 2 Red Drones and 3 Alpha Queens. Less Queens on lower difficulties.
The Grim Reapers appear to the right on Inferno and Hardest, but to the left on Hard and below. The position of the 2nd wave (the Betas) is changed accordingly.

Ranger
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Air Raider
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Fencer
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EDF Earth Defense Force 5 - Main Missions
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EDF Earth Defense Force 5 - Online Main Missions
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EDF Earth Defense Force 5 - DLC 1 Missions
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EDF Earth Defense Force 5 - DLC 1 with Big Bang Core
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EDF Earth Defense Force 5 - Online DLC 1 Missions
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EDF Earth Defense Force 5 - DLC 2 Missions
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EDF Earth Defense Force 5 - Online DLC 2 Missions
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EDF Earth Defense Force 5 - The Hard Way Up
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EDF Earth Defense Force - Helicopter Fun
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EDF Earth Defense Force 5 - Glitches, Supidities, Shenanigans
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EDF Earth Defense Force 5 - Weapon Farming
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EDF 5 Loot Table
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