The real Robert Rogers authored a set of rules of warfare known as '28 Rules of Ranging' which, in one form or another, has been used by various units of the United States Army, including the 75th Ranger Regiment, to this day.
The real John Simcoe was actually a beloved figure in Canada accomplishing many charitable civic acts, and was a staunch abolitionist, likely not at all the villainous sociopath as he was portrayed in the show. He actually did lead the Queen's York Rangers in the war, and went on to found the city of York which would later become Toronto.
Abraham Woodhull didn't marry Mary Smith until 1781.
Benedict Arnold, while the son of an alcoholic, was also raised in a wealthy household and became a very successful businessman in his own right starting with an apothecary shop.