How long does it take to restore stamina?

We already have an answer for a similar question which you can see here:
Dragon stamina, how long to regenerate each point?

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For dragon stamina please see the other linked answer.

For your legion stamina this will depend on whether you have done the research Supply Unit in each of the Legions research trees. This will speed up stamina recovery. In general it will take 1 hour or more to get 10 points of stamina depending on your research.