With a champion in the party, healing feels somewhat less important so I'd consider witch if your familiar is allowed to scout (ask your GM) or a wizard if not. Still hard to go wrong with a bard though, especially if you take Bardicd Lore to cover your knowledge gaps.
What level will you be starting at and what flavour of Marshall is the Fighter going for?
Normally with 3 Martials, a Bard would be absolutely perfect, but a Marshal aura can compensate quite well.
A Champion would help as well with the healing (both with Lay on Hand and the reaction), so a Cleric would be overkill for heal. That being said additional healing is always a nice quality of life, so I'd stay away from Wizard, but a Witch could work (any tradition with lesson of Life).
I'd lean toward either Druid or Witch.
While a sorcerer would have higher charisma, it's still doubling down on something they already have, and building an 18 CHA character to upstage the swashbuckler or champion feels a little bit bad form.
On the other hand, they don't really have anyone leaning into WIS or INT. A druid would be fantastic here, or just a plain primal witch if you want to lean into INT.
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Since you've had your share of Bard in the group already, if you're interested in taking on the role the Alchemist can be an EXTREMELY powerful supplemental support character.
Now, there ARE pitfalls in the class to avoid in that you should probably not get your hopes up on getting solid damage in every encounter but the consumables you can prepare ahead of time will absolutely provide buffs to many of the things that the rest of the party will almost CERTAINLY use in every combat and often give bonuses to Skill checks they need to rely on in exploration modes as well.
The best tip I can give for the Alchemist, especially if you're starting at level 2 or above would be to reserve at LEAST 25% of your ENTIRE coin budget (indefinitely, by this I mean whenever you earn 100g you should save 25g for the next time you get to town) exclusively for the purpose of filling your Formula book with EVERY Formula you can afford so that you will always have the ability to buff the party, have an alchemical tool/item that can and will often completely trivialize what could be a long or complicated obstacle/objective, and be certain you have a variety of different "elemental" damage options so that you can leverage your Recall Knowledge results when you find out what Weaknesses an opponent has to apply GUARANTEED damage via splash damage from bombs to vulnerable enemies.
This does somewhat rely on you keeping your Int maxed out and also saving 2 or 3 Reagents to use with Quick Alchemy during combat or when such an obstacle is encountered in exploration mode but let me tell you, when you're in a situation where you can just spend one resource on the fly in order to just DO THE THING when nobody else has any easy ways to help it will pay off and your party members should be thankful for the buffs (which are SUPER rare in PF2) you can hand out to make them even stronger.
Just my 2c, there are a fair number of Alch detractors around here which is fair, esp since the first version of the Class was weak and had to be buffed but to a large degree much of the issues have been addressed and I think a big part of why it still isn't well received is due to the sort of "toolbox" nature of the Alch that works best to provide situation dependent benefits, apply conditions, buff friends, or solve discrete/niche problems spontaneously (so long as you either stock up on extra permanent consumables or save extra Reagents to use) rather than to function as a DPS, Healing, or Tanking superstar alone.
I had a group comp similar to this, but instead of a Champion, we had a Barbarian and everyone heavily built for Intimidation. I kept the theme going by building an Intimidation Imperial Sorcerer, but I didn’t boost any other CHA skill. The others covered deception, diplomacy, and performance, while I just did my best impression of a Wizard. Oh, and I was also the medic. It was fun time.
I think an INT class in general would be great for your party, but if you wanted to stick with a spontaneous caster, Sorcerer is your best bet. The Imperial bloodline in particular can feel very Wizard-like being already trained in Arcana and your first bloodline spell covering any other skills you’re missing on-demand. Boost WIS for your medical needs or INT for even more skills. You shouldn’t have to worry about upstaging the other charismatic characters as long as you avoid the CHA skills that they already cover. You even have the luxury of easily avoiding performance, unlike the Bard.
I would highly recommend Druid with that group!
Your spell list has healing to supplement the paladin's, as well as blasting spells that your party completely lacks. You can also tailor your druid to fit most any group, and have the option to get an animal companion to help set up flanks, benefit from marshal buffs, and give your paladin more chances to use their reaction.
The only order that wouldn't let you stay in a city is Wild Order. Most of the others can be flavored just fine.
You could have an Animal druid who cares for the stray dogs, cats, and rats of the city, or a Leaf druid who helps to manage the local park, or a Wave druid who spends most of their time hired out on ships but is between jobs, or a Flame druid fire-marshal.
