As long as batteries connected in parallel are of the same CHEMISTRY, AND if they are properly maintained, then group size, starting vs deep cycle, etc. is not an issue. For a given chemistry each cell produces the same voltage and that's all that matters as far as compatibility. However.... few of us "properly" maintain batteries so it is best to use the same group size and type for batteries in parallel banks. Also batteries of different age/service life should NOT be connected as a parallel bank. Batteries used in a bank should be born, live their lives, and die together. The theory is that if they are of the same chemistry and type and have experienced the same history of load, cycles, etc, then they will be in the same condition. Batteries in different condition connected in parallel can cause serious problems (as someone already mentioned).
As to the question of starting vs deep cycle for the thrusters, it depends. If you only use them while the engine is running, then it really doesn't matter. Think about it. When the engine is running the ACRs are all closed. So essentially all of your batteries are in parallel and you have one big battery bank servicing all loads. So whatever the total amp capacity is of the combined bank is available for applied loads. Plus the alternator is running. If you listen to your engine when you activate the thrusters you'll hear the engine take a load as the alternator "feels" the current draw.
But, if one were to use the thrusters when the engine is not running, then in theory a high amp capacity (aka starting) battery would likely be a better fit.