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The actual mission progress relies upon the loyalty too, so do all the loyalty missions, it'll give defense bonuses at the end for when your squad holds the line.
Send Mordin to escort the crew back. Then take Kasumi and Tali with you to fight the human proto-reaper. I know that sounds like ass, but they have the lowest defense, and will make it more likely that your squad holding the line will start dying off.
Lower defense characters die first. Mordin > Kasumi > Tali > Jack.
The first poster is on about the suicide mission and not the collector base
The OP is talking about the Collector Ship mission that happens a few missions after Horizon, not the Suicide Mission.
I'd say you screwed up on crew choice: neither Miranda nor Thane is especially effective against Collectors and they're both pretty squishy. Grunt, particularly if he's loyal, is very good on this mission. If she's loyal, Samara is good because Reave both inflicts heavy damage to the Collectors and helps keep her alive.
"Why can't I just load a save before collector ship?" Because there's a five mission timer between Horizon and Collector Ship. This time is best used to recruit members and gaining loyalty to party members who you wish to take on the collector ship.
For platform fight position your teammates at the cover that right in front of you, they will be mostly safe there. Take the front of the platform yourself and move when necessary.
For praetorian fight position your teammates somewhere far away and kite him, keep distance. The door where 2 husks are will close if you come close.
The rest should be easy.
Second, the skills you decide to keep, need a certain synergy with the ones that your squadmates have to create biotic explosions. To get an explosion, you need a skill that acts as a primer and a skill that acts as a detonator. Primers are singularity, push, pull. In your case, detonator is warp. Singularity works the best for groups and pull is better than push because to use it to push collectors off the platforms, you need to strip them off their barrier first. Let Thane have push.
Third, if you ORDER your squadmates to hunker down, ergo, point them to crouch behind a certain wall, they will stay there. Miranda and Thane are not just good choices, they are the absolute BEST when it comes to collector missions, especially if you make their warp to be unstable as a final upgrade, their explosions are huge and Harbinger drones won't last two seconds, even on Insanity, if you land some good shots later on.
4th, you might already know this but you don't need to be near your squadmates to revive them. They can be on the other side of the room. Just use the medigel and that's it.
5th, If you want an alternate choice for squadmate, complete Kasumi's loyalty mission and also grab the Locust SMG. Kasumi has an ability called Shadow Strike which is basically a teleporting backstab. And it hits like a truck when the enemy has barriers/armor/shields.
And I do agree that I spread my points out too much (all I really use is pull, warp, and barrier), but there isn't much I can do about that mid-mission. And I make heavy use of biotic explosions.
My main issue with this mission are with the possessed collectors (Harbinger). Their ability forces you out of cover and staggers you for 2 seconds. Even with barrier, my shields are broken almost instantly, and I am lucky to get out with half health or less. There have been times when I had full shields with barrier active, and then the ability forces me out of cover and staggers me, and I die before the stagger can even wear off because everyone focused their fire on me. There is nothing I can do about this, and it's an ability that this enemy spams all of the time. The only time I find myself surviving an encounter with the collectors is if I manage to kill all of the other enemies before he can use his ability on me (rare), or if i'm in a position that he can't go to or reach me with his ability (also pretty rare).
Singluarity is amazing, it doesn't need to last long but all it has to do is move enemies out of cover and shoot and stop them shooting at you. This is whats important on Insanity, stopping enemies doing stuff and giving you more opportunity to hit them back.
As for harbinger he obviously is a priority target but am not sure how other classes deal with him since I just pop a combat drone to keep him busy for a sec lol. His Barriers and Armour doesn't seem very large tho so a AP pistol and some warp should rip him apart very easily. You can also use singularity to stagger him momentarily.
I would recommend taking thane on this mission (with the incissor) and maybe even mordin with heavy incinerate. Incinerate melts through armour and whilst Mordin can't deal with barriers well he can instantly freeze things when the barriers are down. If SMG (if upgraded to do more damage on shields and barriers) should be more than enough to get through even a pretorian's barrier with you and thane on it too.
Or just use warp. Warp is your best friend on Insanity. It debuffs their damage resistance and is great for taking out barriers and armor.