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Check your civ score, it should be 35 points for each civilian. If they get hit, incapacitated or die, you will only have 5 points.
AI could kill civs with beanbags or they will swap to their pistol once mag is out of ammo and can hit/kill suspect.
Basically noone can die, noone can get injured, must secure all objectives & weapons.
You can get S playing on practice when your player character dies. Your death is not counted into score and your team AI can and will proceed to finish the mission.
Have your squad search and secure the area at the end of the mission. If the mission ends by you voting, you have not secured everything.
To OP. Get two AI with heavy, steel, full coverage armor with beanbag shotgun. Two AI with pepper ball gun with light, steel, full coverage armor. Bring CS grenades (some enemies will be immune to this but few and far between, this is what the beanbags are for). Lead clearing with shotgunners. Take it slow. Mirror every door.
Getting S is PAINFUL, especially on later levels. But possible. And you'll have to think smart. Split your teams and queue up a dual breech where you can. Sometimes take the lead yourself in very dangerous areas.
Oh ya. Since there lacks a non-lethal secondary, take all ammo from their pistol so they don't end up using it. Keep a mag for yourself though so you can shoot out windows if you need to, cause bean bag and pepper balls wont do it.
But when using non-lethal weapons, you can easily shoot suspects as soon as you see them, and do not worry about the penalty score for "Unauthorized use of force".
Personally, I prefer to use lethal weapons because killing suspects is more entertaining than stunning them with a pepper weapon. But when I want to get an 'S' rank or when I want to finish Swat 4 on Elite difficulty, I use non-lethal weapons, and despite the fact that I shouldn't worry about penalty scores, it's way easier because I can shoot enemies immediately.
Only developers need to nerf enemy AI in some missions and also reduce the power of some suspects that spot and shoot you behind the walls very accurately. Also, their aim will be locked on you, and they will shoot you repeatedly without missing a single bullet. After every suspect in all of the missions becomes balanced, you can go for "Ironman" mode as the ultimate challenge of the game.
With balancing enemy power, it is fair to play along with team AI if you don't have any friends to play with constantly, because playing with friends and using voice chat would be much more fun. Also, remember that these A.I. teammates act way better compared to Swat 4 A.I. teammates. In Swat 4, you and your team could die with a single pistol shot while you are police and equipping armor, and that's not something reasonable.
P.S. Also, I should tell you that for getting 'S' rank, you need to equip yourself and all of your team members with non-lethal weapons like pepper guns in AR and SMG categories or Bang Shotgun. And remember, remove every sidearm magazine from your team members inventory because if they have lethal ammo's for their sidearms, they will automatically switch to pistols and kill suspects, so you won't get 'S' rank. My suggestion to developers is to use a Taser gun as a sidearm, which is currently located in the gadget category.
If you play "Practice mode" player character can die, team AI can finish the mission and you can still get S.
How do I know? I got S this way.