It's possible to assign an AI squadmember to go and pick up a rifle laying on the ground 1km away (and possibly even further). After a series of battles over the whole Stratis, the action menu was absolutely cluttered with lots of "take rifle" commands. Sometimes I had to scroll through 5-6 pages in order to get to a command I want to give, for example "treat yourself".
Also I had a problem with rearming AI squadmembers without ammunition. The mission was 8h long. I wanted them to switch to OPFOR weapons, but it was impossible with the action menu and I had to take care of them one by one, either by ordering them to check out a specific body or by impersonating as them for a while and doing the weapon switch myself. That cost me a lot of time and wasn't fun at all.
There should me more reasonable radius, within which it's possible to order an action. I propose between 100-200m, when I want something from more afar, I'll go there with the whole squad anyway. Outside of that radius the command shouldn't appear in the action menu.