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Move AI in squad, cover... Full Spectrum Warrior

Hi,
I was hoping I could get some feedback from the community here on how you would go about re-creating the movement and shooting mechanics in the old 2004-game Full Spectrum Warrior.
I am building a small proof of concept, and although I have came quite a long way I was hoping to get some feedback on how you would go about it.

You control two squads, and is a bit of a cross-over between a 3rd person game and a RTS-game. However you dont control one character individually with simple WSAD-keys, but you move a number of 4 AI´s at once. The part where I have been struggling the most is how to make each AI know if you’re in cover or not, the “snap to location” when there is a cover close by

A short gameplay video her; https://www.youtube.com/watch?v=TwQtZ5WzYH4

Thanks again!

Victor