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Sure would, it's incredibly useful sometimes, but sometimes it's also stupid.
The trooper should not wait for my permission to shoot when he's got a bad guy on his sights who is going to kill a hostage. He should react the same way he does when he's "compromised" and take the initiative.
Also I wouldn't mind a new "doctrine" that would train your troopers in "priority targets", which would prevent them from shooting enemies that aren't that much of a threat first when another one is facing them and/or already shooting at them.
What I'm calling "doctrine" is actually the stuff you can unlock in the skill trees with doctrine points.