Currently if you order a subordinate (AI or another player) via the action menu to take an item it is very difficult do so with any accuracy.
a) "Take [item name]" when there are multiple instances of said item can direct the subordinate to an instance 200m+ away instead of the one 5m away - there's no way to tell which one you are directing them to.
b) "inventory" will direct them to approach a container and open their inventory for you to adjust their loadout - however you cannot dictate what container - the engine works that out for itself. Very awkward.