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You select the AI units themselves (any you wish to merge onto your group), visually, and drag them (left click and hold and drag I think) onto the floating icon where your position (your current squad) is. It can be kind of awkward doing that if doing it from across a large map maybe, especially with lots of other icons for different friendly units all over nearby ect. Although there may be an alternate way of moving around units from group to group that is easier than that when it isn't nearby, but I tried by just selecting it on the menu and it wouldn't work by dragging/dropping onto it then. Perhaps there is an alternate wayI don't know of though.
*When I say this, I mean, ordering them around in Zeus. It's usually best to only include "crewmen" in vehicles sometimes I think, forgot why but they misbehave on me once I try to put an engineer amongst the ranks of a 3-person vehicle crew it seems. Maybe that is the mission/game mode though I was playing but I figure not and it's a problem with Zeus. Maybe the thing about only including crewmen sometimes isn't a big deal, maybe it depends on other stuff. In general though, ordering AI around in vehicles can get frustrating and seemingly buggy and full of issues. A lot of the time it works fine mostly though.
Edited again to clarify, my bad. Select units themselves visually, hightlighting them with leftclick and drag onto other group. Similarly, left-click and drag out onto an open space or something I think to create a new group for a unit.