You can't change your servant's class but you can play same HS with different canon form like:
FSN Lancer - Original, Extra, Prototype and Caster.
Vlad - Extra and Apocrypha.
Extra Assassin - Old man Lancer version from Extra Material book.
Karna - Extra CCC, Rider Karna from Fate Material and Apocrypha.
and etc..
Yes, there was mentioned from article that you can have an entire of Sabers in your party.
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