Galrans are easily represented by ryphorians. Alteans are elves. Half-elven ryphorians are actually a thing already, and can easily represent half-galran/alteans.
Galran and other alien craft (that aren't Voltron) are easily represented by the existing starship rules, as are many of the weapons, armor, and devices we see throughout the anime.
The giant monsters we see could probably be represented via starship combat rules (since it's almost always ships fighting against them) with loads of environmental features and hazards to make the combat more interesting.
There might be problems with balancing characters in multiple ships, as well as possible character/vehicle/starship overlap (such as when one character leaves their ship in the middle of starship combat to...do something), but that would be an issue in Starfinder too, and really has nothing to do with the Voltron setting.
Very little would actually need to be house ruled in I think. Perhaps some of the fringe races we see, though I imagine many of them could probably be reskinned versions of existing Starfinder races. The balmerans were known to be strong reptilian creatures, and thus could simply use vesk stats. Unilu, having four arms, could use the kasatha stats. The heavy set cyclopean taujeerians would use the shobhad stats. The mermaid-like plaxum could use the kalo stats. Arielian could be almost anything (drow maybe?). The insectile olkari are a little trickier with their innate druidic abilities.
What else might we need to make the Voltron universe work in Starfinder? What other existing rules could represent various aspects of that setting?
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I’d just mentioned that Galrans tend to interbreed with a lot of other races (humans are possible, and with Lotor’s guard, each of them is half Galra and half...um...other things), so you might end up needing to house rule something there. As for the olkari, maybe use a particularly tech savvy race (ferrans maybe) and adjust size to medium.
I'm not so sure Lotor's guard are half breeds (I've not seen anything about it in the Lore anyways), but are unique aliens. They are definitely part of the Galran empire, but I don't think most of them are of the Galran race.
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I might be infering from the reference of that general that tried to isurp the throne in his introductory episode refering to all of Lotor’s soldiers being “not full-bloodrd Galra.” And given their reaction to his anti-galran sentiment, I just assumed they were the half-Galrans referenced. I think tvtropes also referenced them but their resources are sometimes apocryphal.
Watching the new Voltron series certainly had me thinking that the races in it would be great for Starfinder...