I'm brand new to the Mass Effect games. I started the game with Sentinel and I'm super frustrated. Even though I want my allies to kill the enemies they're so ****** stupid I'm ending up killing the enemies anyway.
Is it even worth it or is the AI so bad you might as well just use your companions as heal bots?
I like Sentinel, but I prefer it with a weapon bonus talent to increase the DPS.
Typically I would recommend someone start with Soldier if they are brand new to the series, but everyone has their own preference. A couple things to keep in mind though are that the early game weapons aren't particularly good, although some NPCs will give you a semi-decent pistol on Eden Prime which you should equip, and the Pistol and Assault Rifle really need Marksman and Overkill activated respectively to do decent damage. Granted it has been a while since I played Veteran so maybe they work a little better on that level (if I remember correctly, that is the highest level you can start at if you haven't beaten the game once already).
The AI is pretty bad. Companions are more useful for their powers than their damage output, so you should either set them to defensive power use or disabled so that they'll be available when you want rather than on cooldown when another lift might be useful. I don't know if you are on pc or console, but on PC you can position your squaddies individually so that you can get them out in front to tank (especially Wrex and Ash) rather that shooting you in the back.
Yeah they also make good decoys for snipers on the side missions. Just activate their immunity, then move order one out into the open. The Sniper will shoot them, do minor damage, and then you can pop out and take care of the Sniper. 
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