When you get into a fight, your Team automatically start to give each soldier cover before this soldier runs to the next covered position (usually they try to follow the direction you ran to) and gives cover for another one.
But sometimes you have to leave a position with your team as fast as you can but the AI will never move faster until It says "Area clear". This is not how a commander would treat his team in a stress situation.
Even when you give the order only to be "aware" or "careless" (7-3 or 7-4) and not in a fighting-stand the AI keeps securing the area. Also when you tell them to regroup (1-1) or fall back. This makes the gameplay stiff and unlikely.