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On the left hand pane click on "Planets Management" (third from the top - world icon with the green marker) -> then click on "Resettlement" at the top right of the window -> choose your planets from which you want to take away a worker and assign it to another planet that lacks a worker. The little pyramid icon tells you if it is a "Ruler, Specialist or Worker".

If you click the dropdown in the "Resettlement" window you can also see which planets have Unemployed workers that you can move and which planets have free jobs that need workers. :)

Hope that helps!
 
On the left hand pane click on "Planets Management" (third from the top - world icon with the green marker) -> then click on "Resettlement" at the top right of the window -> choose your planets from which you want to take away a worker and assign it to another planet that lacks a worker. The little pyramid icon tells you if it is a "Ruler, Specialist or Worker".

If you click the dropdown in the "Resettlement" window you can also see which planets have Unemployed workers that you can move and which planets have free jobs that need workers. :)

Hope that helps!

Workers are automatically assigned to available jobs. If you want to prioritize a job on a planet, you can click on it in one of the planet menus (“Jobs” maybe?)

Whilst the F4 menu is definitely useful I still didn't seem able to assign jobs to my populace on Earth. It was only when I prioritized a technician that the slot was actually filled.