Does the Army respond with "Aye, sir" to a command, or is that only for Marines and Navy? If not, what would their response be to a command?

As others have said, "Yes, Sir/Ma'am" is far more common - in fact, I don't know that I ever heard "Aye" while I was in. Sergeant through Sergeant First Class is "Sergeant"; Master Sergeant and above by rank. Warrant Officer 1 (WO1) is supposed to be "Mr./Ms./Mrs."... but that just seems a horribly awkward way to address someone in the military so they are usually addressed as "Chief" as with the higher Warrant Officers.

Hearing people say things like, "Roger, sir!" will sound just off-the-wall and bonkers... until you spend a while talking on radios and pick it up yourself.

Being a Navy brat, on my first day in basic training in 1973, I asked my drill sergeant if I could use the “head”. BIG MISTAKE. He told me in so many words that my head was on my shoulders but that the latrine was over there. Then he asked me my affiliation with the Navy? He then warned me to lose all nautical references such as deck, hatch and serveral other terms we usually affiliate with Navy or Marines, which I promptly flushed from my memory bank for the rest of basic training. Interestingly enough though, my previous exposure to the military was a determining factor for me being chosen as a squad leader, which I managed to hold for the duration of the cycle.

Along with the acceptable responses to orders in the Army already noted such as Yes sir, Roger sir are Hooah sir and Affirmative sir, Good Copy sir, Message recieved sir.

"Aye, sir" isn't used much in the Army. I catch myself saying it every now and then since I was an enlisted Marine at one time and old habits die hard. Instead, my typical response to a command is "Yes sir" or "Roger sir".

The appropriate response receiving an order from a Marine officer would be, "Aye Aye Sir", outdoors, in uniform, you would also salute, acknowledging the order.

It would be a simple YES SIR

We in the Army have many ways to respond to an order. They are (in no particular order): Yes Sir/Ma'am; Roger; Tracking; Check; Hooah (or Huah); Got it; Understood; Moving....

It depends.

If you're talking to an officer, "Aye sir" can be acceptable but "Yes sir" is the more common response in the Army. If you are asking about how to respond to a Drill Sergent the proper thing to say would be "Yes Drill Sergent" If refering to a SGT, SSG, SFC, or Master Sergent who isn't a Drill, you would say "Yes Sergent" (some Master Sergents will ask that you refer to them as "Master Sergent" which, while not written in regulations, is common practice in the Army to do so.) If refering to a 1SG "Yes First Sergent" Sergent Majors, Command Sergent Majors, and the Sergent Major of the Army would be responded to by saying "Yes Sergent Major"

I catch myself using "aye aye sir/ma'am" during formal ceremonies at times, but "yes/no sir/ma'am" is generally used to acknowledge orders in the Army ...

Understood sir

Marines respond, "Aye, Aye, Sir". I imagine, "Yes, Sir" or "Roger, WILCO" would be equivalents.

Navy and Marines

Thats just navy

Just Marines and Navy. Army would probably say yes sir or no sir. Aye aye sir or Ma'am means I will comply.

In the marine corps it’s aye aye sir, although many get lazy and don’t say the second aye.

Hello Kitty! Lol

"Aye" is NOT the correct response to a command. A single "Aye" means "That is correct."

"Aye, aye sir/mam" is the correct response to a command and means "I understand and I will comply."