Yes, all you have to do is enter the dungeon at least once. The game remembers your choice of squadron members after deployment.
Please follow our guide from [Beta] Combat thread:
- Enter Free Company Barracks.
- Open Miqobot -> Switch to Combat tab -> Press “Start”.
- Select your party members to meet the role composition requirements.
Note. The last step is needed only once as the game will remember your choice after deployment. You don’t have to stop Miqobot, just open Squadron Members window and she will patiently wait for you to assemble the party.