An Old One

You are the ship she's piloting.

You're just accepted as a crew of a medium freighter.

Your three childhood friends rescued you from execution.

Fraternal twins next door.

Eldest daughter the Tendo family from Ranma 1/2.

Urd, Norn of the past. Goddess Second-Class, Limited License

A princess you are assigned to guard.

An elf warrior and adoptive mother.

A childhood friend that has been isekaid with you.

Former savior of the multiverse. (No novel category)