If you had the Brothers in Arms trilogy + Rainbow Six Vegas 1 & 2 + Star Wars Republic Commando you basically had the best squad shooters one could hope for.

More recently, the remastered Mass Effect trilogy + Andromeda, and Wildlands + Breakpoint have great squad mechanics. You don't exactly need to, they can handle themselves fine, but you can do a lot of fun stuff, like ordering specific "spells" at specific moments in Mass Effect, staying stealthy and synchronizing long-range sniper kills in Ghost Recon, ordering the use of heavy weapons or grenades manually, etc.

In the Ghost Recon games you can even customize them fully: male/female, face, hair, gear, weapon, and they will adapt their archetype depending on the weapon.

In Mass Effect you have less freedom to do that but still enough room to make your choices matter.