It all depends how you play. I am a very aggressive player so I usually go for someone with strong soldier statues, rather than tech and bio. It also depends on your class and how much help you need and where.
I like to mix and match, I also use different squad mates for different missions. I have found sometimes the missions have "unique" dialogue depending on which party members you take on certain missions. A good example is to take Legion along to do Tali's loyalty mission and watch the sparks fly :D
It's been a while, but I used Grunt, Miranda, Mordin, Garrus, Thane, and Legion. Honestly.. they're all good. But Grunt seems the most aggressive and therefore distinct from others. He's great to use when you just wanna take on enemies from longer range.
I tried to use all of them as much as I could, but it really depends on the kinds of enemies you'll be facing in a given scenario. For example, if you're facing shielded foes like Blue Suns or mechs, tech experts like Tali or Legion would be most beneficial. It doesn't make as much of a difference who you pick at the lower difficulties. On insanity difficulty, though, your choice can really help or hinder your effectiveness, since all enemies have some sort of shield, armor, or barrier.
They arent all balanced as with the classes, in most cases you'll only find shielded units and heavy armoured units to be your biggest threat other than that probably being overrun by husks. A Garrus/Thane work well. In late game all classes can pick up warp ammo which is nice.
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