[@ManyThings]Depends on the character. Alters are unlikely to be included because they are cursed by 'all the world's evil' or something along those lines usually like Jeanne, or Artoria. However some servants like Kojiro Sasaki merely pick the character who fit the legend the most, and there's multiple versions of robin hood. However they would retain the skill set from canon because that is their legend.

In regard to Jeanne I have her already built. Also I've used Lancelot before as well.