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ME2 - Miranda, Grunt, Thane, and Garrus. ME3 - Liara, Kaidan, and EDI.
Haven't played ME1 yet.
In ME2, Miranda and Grunt were my go-to squad for Collector missions. With Warp and Concussive Shot, barriers dropped very quickly, and Grunt did a good job of tanking while Miranda provided useful squad bonuses. Garrus was great against mercs and geth due to Overload, and Thane's Shredder Ammo and Warp are always useful.
On my Engineer and Adept runs, Kaidan and Liara were far and away the best squadmates for ME3. Kaidan synergizes perfectly with any class, and Liara provides useful crowd control. EDI does a high amount of damage from her powers alone, and has fair durability.
ME1: Garrus and Ashley ME2: Garrus, Tali and Miranda, depending on my class. ME3: Garrus, Tali and Ashley, depending on my class.
Garrus is just a great all-around character in all three, with high weapon damage and Overload making him always useful. Tali and her drone were extremely useful for forcing people out of cover in 2 and 3. Miranda was far and away the most useful squadmate in 2. Ashley was unkillable in 1 because of Immunity, and was amazing at drawing aggro with a big machine gun like the Revenant or Typhoon in 3 so I always used her as a tank for my squishy classes.
The big brain am winning again! I am the greetest! Now I am leaving Earth for no raisin!
1: Garrus and Wrex, with a bit of Tali. 2: Garrus and Grunt, though cycled through them sometimes, especially with Thane and Legion. 3: Garrus and Javik, with a bit of E.D.I. 3 Citadel: Garrus and Wrex, oh the nostalgia.
Gamertag: DirectControlz Twinkle, Twinkle little bat, Watch me kill your favorite cat. - Joker (Arkham City)