I honestly never started using many of the commands. Just Follow, Defend and Send work well enough. Defend seems to mostly allow them to be more responsive as they don't need to be as focussed on the player. As long as you leave one of them on pure Melee. Assault Cannon or Plasma Cannon can work, but it feels like something that needs the right environments and even more positioning management from the player.
I honestly never started using many of the commands. Just Follow, Defend and Send work well enough. Defend seems to mostly allow them to be more responsive as they don't need to be as focussed on the player. As long as you leave one of them on pure Melee. Assault Cannon or Plasma Cannon can work, but it feels like something that needs the right environments and even more positioning management from the player.