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if you give AI, following AI, waypoint orders such as this:
http://images.akamai.steamusercontent.com/ugc/487894227413855690/BEC006F0302F65FCB7792A838C5B4C4BD9527E1C/
then they will go into a non-formation based, cover-looking for AI mode. then you'll get them doing things such as this, which is what they did from one single MOVE waypoint with the non-formation combat stances and no formation order change.
http://images.akamai.steamusercontent.com/ugc/487894227413856125/3F4D170AF425844E11C3236F0AA337580A1D5680/
If you read the descriptions in way-point interface while you hover your mouse over the various combat modes and such, it will explain if they use formations or not.. Hope that helps man.