Republicans: Mostly ID, with some ECR elements
Democrats: Mostly RE, with some S&D elements
Greens: Greens/EFA
Libertarian: EPP? (I'm genuinely unsure on this one)
We do not need to speculate for the Republicans actually, since they have some sort of "cooperation agreement" (whatever that means) with ECR.
Because of their different history compared to European socdem parties; the Dems would indeed be in RE (much like how the Canadian Liberals would)
The Greens would be in the G-EFA, no surprise there
The Libertarians, as weird as it sounds, would also probably be in the same group as the Democrats (RE) since it's the closest to them.