Legion near Judea at time of Jesus

[Nathan Ross]

there was the issue of an insurrection caused by Barabbas

Barabbas - if he existed - was probably a gangster or petty brigand, or the leader of a riot. If he had led a full-scale revolt that required the assistance of Roman legions (and Antioch is 18-20 days march from Jerusalem!), I'm sure there's no way that Pilate would have simply released the man - he'd have been on a cross before he could draw breath.

In short, there's no evidence for legionary troops in Judea c.AD30, and it seems very unlikely that any would have been there. However, you could say there's no actual evidence they weren't there either, so if you need to have some legionaries present around that period, strictly speaking nobody could conclusively prove otherwise!