Minimal systems of generators for finitely generated algebras over commutative (graded) rings

I think this almost never happens without grading. Consider the simple example with $S=\mathbb Q$ and $R=\mathbb Q[X]$. Then $\{ X\}$ and $\{ X^2+X, X^2\}$ are minimal systems of generators of different sizes. Similar constructions should work for any algebra over a field with a transcendental element.

Of course if $R/S$ is a finite extension of prime order, then any minimal system of generators is a singleton. But this fails as soon as we remove the condition of prime order: let $S=\mathbb Q$ and $R=\mathbb Q[\sqrt{2}, \sqrt{3}]$. Then $\{\sqrt{2}, \sqrt{3}\}$ and $\{ \sqrt{2}+\sqrt{3}\}$ are minimal systems of generators of different sizes.

Graded case.

For a homogeneous algebra $R$ over a field $S$, a set of homogeneous elements of $R$ generates $R$ if and only if it contains a set of generators of $R_1$ has vector space. So the minimal systems are exactly the basis of $R_1$ as $S$-vector space.

More generally, if $R$ is a positive graded algebra over a field $S$, we can describe the minimal systems of homogeneous generators as follows. For any $d\ge 1$, denote by $R'_d$ the subvector space of $R_d$ generated by products of homogeneous elements of lower degrees ($R'_1=0$). Then $F\subset R$ is a minimal system of homogeneous generators if and only if for all $d\ge 1$, $F\cap R_d$ is a lifting of a basis of $R_d/R'_d$. In particular, for all $d\ge 1$, any two such systems share the same number of elements of degree $d$.