I was able to do it with Wrex and Grunt in my party as a Sentinel Shep on Insanity. Basically, focus on them one at a time. You need to slightly change your tactics depending on which class you're focusing on and which wave you're on.
Wave 1: Adepts, Engineers, Soldiers.
Basically, focus on the Adepts first, because they're the real heavy-hitters. Focus all your fire on them and get their shields down. If possible, try setting off fire explosions or biotic explosions when their shields are down because both of those do a large amount of damage to armor.
Next, take out the Soldiers. They have Carnage and their Valkyrie does a good amount of damage, so you should try to keep them off balance. Basically, just hammer them until they are dead.
Engineers is the easiest out of the three, So just focus fire on them until you've finished the wave.
Wave 2: Vanguards, Sentinels, Infiltrators.
All three of these hybrids are dangerous and thus, it can be hard to figure out which one to go after first.
The Vanguards do a lot of damage, but they don't stick around long when their shields are down, so it may be hard to finish them off. They move around a lot, so sniping them will be difficult.
Infiltrators fight from a distance. They're still dangerous at close range, but they'll simply cloak and try to get some distance from you. They can one-shot your shields, but all you need to do is get out of the line of sight.
Sentinels are the tanks, and they deal a large amount of damage. They are most dangerous at close range, but they are easy to spot due to their Tech Armor. Focus on them first, since they will try to stay at close range longer than the Vanguards. When they're down, try going for the Vanguards or the Infiltrators, depending on your playstyle.
Wave 3: Sentinel, Vanguard, Soldier, Adept, Infiltrator, Engineer.
With this mix of classes, you'll be getting hammered and will need to be extra careful. Again, focus on the Adept first and use the same tactics as in Wave 1. Next, focus on the Sentinel. Save the Infiltrator and the Vanguard for last, as they are the trickiest to pin down.
After the Sentinel is down, focus on the Soldier, then the Engineer. Deal with the Vanguard before taking down the Infiltrator.
Then again, I was running around with the Claymore as were Wrex and Grunt.
I gave them melee mods because a lot of the fighting is going to be close range.
As for maps, I suggest Pain Train, because there are a lot of places you can bunker down and wait for everyone to come to you. There's also a lot of cover, but maneuvering can be tricky (especially with Grunt and Wrex running around
).