The only game I can remember truly liking squad AI in was Freedom Fighters. That one may not even hold up if I tried it today. Every other game I can remember ordering a squad round had lots of problems.
It holds up pretty well actually. It is one of my favorite games of all time, so I go back and play it occasionally. The game is still as fun as the first time I played it.
Damn it! Now you have me thinking about Freedom Fighters again! I love that game. I'm still mad that we never got a Freedom Fighters 2.