Much like line of fire detection. I think that this would be a much easier, and simpler solution:
When the player is pinging in a direction, or ADSing, the bots in the squad move to take cover or aim in the same direction. But most importantly, never cross in front of a player who is ADSing unless given a move or hold order.
The aiming with the player should be a toggle though, like aggressive or passive. That way so when a player is engaging something (even incorrectly) it should pull the squad to engage the same target. As well as seeking cover from said direction. Though some players will probably want to leave this turned off