I need a specific orange hero I already own (need his medal to unlock his 6th Skill). Any chance getting..

In general no. There isn't a way to pick a hero to recruit, it is done randomly. The only option is if you need one of the following.

Yamaraja, Rough Rider, Heaven's Justice, Orochi, Hurricane, North's Rage, Dual Blades.

If so then you can choose to pay for the Heroes Development plan which will give you hero related benefits for 30 days including the option to pick one of these heroes.

Other than that you have to wait for your luck to work. It will happen eventually though.