Steven and Dodo left in consecutive episodes at the end of the show's third season. Although the actual reasons probably had more to do with the new producer's desire for a more glamorous cast, in our imaginary RPG campaign, perhaps the imbalance between the over-powered Steven and the under-powered Dodo was becoming a bit of an issue rules-wise. Which might explain why their replacements are both down-to-earth, while still being fairly capable.
Stepping into the 'Action Hero' role recently vacated by Steven is Ben Jackson. Like Steven, he's served in the military, but that's about as far as the resemblance goes. While Steven is a fighter pilot from the future, Ben is a regular rating on a Royal Navy ship from 1966. From the perspective of someone watching the show, it's the difference between the wish-fulfilment of wanting to be Dan Dare, and the feeling that somebody who's kind of like you might still have a chance at exciting adventures with the Doctor. Which is still wish-fulfilment, admittedly, but of a different kind.
Merely from his profession, we can deduce quite a bit about the skills he ought to have. He should be good at fighting, have some ability as a mechanic or electronics operator, be able to swim, and have at least some idea how to steer a motorboat. Aside from the last one, these are all things that we do, indeed, see him doing to quite high levels of competency. In The Highlanders, for example, he's thrown into a deep firth while tied to a chair, and still manages to swim away to safety without breaking the surface. (So we'd better add escapology to his skill set, then... don't know if the Navy teaches that).