As far as I know, it is not yet possible with the current Mod Tools (might be possible with other tools, such as BepInEx, but I'm not knowledgeable on the matter).
I assume (and it has been advertised as such) when Mod Tools will be fully released (currently in Beta version), we'll be able to add 2D and 3D assets in the game, such as custom emblems.
Meanwhile, I've started a thread -- quite a long time ago -- to compile custom emblems : https://www.games2gether.com/amplitude-studios/humankind/forums/178-modding/threads/40329-suggestions-and-ideas-for-additional-symbols-sets-in-game?page=1#post-317427
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