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As far as enemy priority goes, focus the Scions while your team shoots Harbinger. Your squadmates get destroyed by the shockwaves so it's better if the enemies focus on you.
Biotics and tech powers do not work on enemies with barriers with the exception of warp. You're on insanity, so all of those collectors have barriers. The only thing that works 100% of the time on insanity is guns which is what soldier specializes in. You've got to up your first-person shooter game.
Adrenaline Rush is the best ability in all of ME2. It's a massive damage increase. It guarantees that a full clip will be dumped into an enemy's head (even more damage), and it can be used defensively as with time slowed it's easy to run to the other side of a room and take up a new position in cover
Get the Locust as fast as humanly possible and the game is essentially over.
Warp for barriers
Overload for shields
Tech Armor for tanking.
Get AR rifle Mastery and use the Mattock.
Sentinel gets free shield recharge with Tech Armor and has some good synergy with all companions. Vanguard can also get free shields with Charge, but exercise restraint when doing so (countless hours of ME3 Multiplayer has shown how quickly a brainless Vanguard player can get killed).
Soldier can be pretty good, but you need good positioning and proper threat management to be effective. I'd avoid using weapons that require you to peek for long periods of time, instead use slower, high power weapons. Avoid the Revenant when the time comes, pick up the Widow instead. Don't bother getting Squad Ammo Powers and focus on maxing your own DPS, as you're likely not running Weapon-focused squadmates as a Soldier. Pick up Armor Piercing as your bonus power, it's better than Incendiary ammo for Armor damage.
I'd avoid Adept because of how dependant they are on stripping enemy defences. Adepts are relatively worthless against Mobs with shields. Engies get Incinerate for Armor and Overload for Shields (other classes can us Miranda for defences).
What this guy said.
Soldier is like the easiest class in the series, easily S-tier just like Sentinel for Mass Effect 2, just equip a Mattock and go to town. You should also pick the Widow instead of the Claymore or Revenant, since it's a great choice combined with Adrenaline Rush.
You have every weapon except SMGs and all you have to do is spam Adrenaline Rush for success. The starting point of the Collector Ship is actually pretty safe, just as long as you're smart about when to pop in and out of cover, the scions really can't hit you.
You had me until you said AP Ammo is better than Incidiary. Burst Incidiary ammo is the most broken ammo type in the game. It stuns entire groups of enemies.
The best bonus power for solider is Geth Shield Boost. No point in getting 4th ammo type when Incidiary does the same tbing....but better.
Fair enough... still think it's a waste of a bonus power when the only thing a solider needs is survivability.
And if you do go down the ammo power route Warp ammo would be better than AP since it's effective against barriers. Just think AP ammo on a solider is redundant.
Barriers compared to armor are significantly rarer and Concussive Shot actually is classified as a Barrier-breaking power. The enemies who have dedicated barriers are the Collectors (most other enemies either have shields, which you have Disruptor Ammo for, or Armor. Sure, you might find the odd Vanguard, but I don't think they're worth the Bonus Power slot). Given that Collectors never have other faction units with them and there are few missions outside of story that contain them (compared to the abundant merc missions), you can tailor your party to be barrier busters, which further reduces the need for it. Bosses, however, are pretty much included in every mission and typically always have armor, hence why I recommend AP.
Most of what I suggest is based on a first time playthrough of Insanity, without NG+ bonus powers.