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To rearm your AI, you need to find vehicles that actually have magazines for handheld weapons in their cargo inventory. If they do have magazines stored inside that are compatible with your squad's weapons, all you need to do is select them and then issue the "Rearm" command (i.e. F2 -> 6 -> 1. Rearm).
However, if there are no crates or vehicles nearby with magazines stored inside them, then your AI won't be able to restock their equipment.
Uh... no? They always grab a few magazines if there's compatible mags available (usually 4x-5x) and a first aid kit + frag/smoke grenades if there's any. There's never been an issue with the Rearm action even back in the Alpha.
It only gets silly when there's lots of corpses or containers around the vehicle/crate. That's when the AI tends to spaz out and grabs stuff from the wrong location.
Uhm, yes?
It's certainly annoying to have to micromanage them in this way but the action itself is not broken.
Best way around this is to press the inventory action when they are next to a vehicle or crate with magazines inside cargo,and manually drag a few mags into inventory for them.
this addEventHandler ["Reloaded",{
_unit = _this select 0 ;
_mag = _this select 3 select 0 ;
_unit addMagazine _mag ;
}] ;