As best as I can figure out...
System numbers are assigned sequentially as requested -
e.g. AN/URC-31, AN/URC-32, AN/URC-33 might be from different services
(sometimes a set of numbers is requested for a family e.g. AN/SRT-14. AN/SRT-15. AN/SRT-16)
Unit numbers are also assigned sequentially as requested and if associated only with a particular system, given that as a suffix.
e.g. CV-731/URC (used in multiple systems) or C-4099/FRR-60 (used only in AN/FRR-60)
(sometimes a set of numbers is requested for a family e.g.AM-3295/FRR-60, AM-3296/FRR-60, etc.)
The real poop is MIL-STD-196
5.2 Requests for Nomenclature. Requests for nomenclature are submitted by the DCP to the DODCP on DD Form 61, Request for Nomenclature, electronically submitted through the automated database (JETDAS),
HTTPS://TDAS7.apg.army.mil/JETDAS . An enrollment form must be obtained from the website or the DCP in order to gain access to JETDAS.