It really depends.
If I´m doing a serious play from a challenge perspective, then I pick my squad based on the most efficient combination for the mission at hand base on what type of opposition I´ll be facing. Their proficiency in stopping husks or quickly disabling geth, rachni or krogans will be the major factors depending on each situation. Also, the squad needs to have at least someone capable of opening locked content. My squad-mates will also have to complement my Shepard and compensate for his/her shortcomings. So the class I´m using and the talents I´ve evolved will also impact the decision.
If I´m just playing casually for the sake of the storyline, on a very easy difficult level or even abusing the console commands to make me invincible then it´s just a matter of trying different combinations to see if there are new results, or take the characters that best suit each particular mission.
There´s also the factor that I like to role-play. My shepard does not I would do in his or her place, but what he or she would do in a way consistent with his or her personality. For example a Paragon shepard that is open to aliens would gladly take Liara to confront Benezia. However, a renegade distrustful of aliens would never do such a thing since he or she would have many suspicions.
But if it was really up to me story-wise:
Rescue Liara: Given the climate of the planet, I think Wrex and Garrus do have more stamina to endure the situation.
Noveria: Liara and Kaidan. Rachni are vulnerable to biotics. And Liara will hopefully smooth things with her mother.
Feros: Kaidan and Ashley. Seems like a human matter;
Virmire: Garrus and Ashley. The place seems to favor shooting enemies from long distances, and it seems like a chance to allow ashley to repay saren for the attack on the colony where she lived in peace. I would save ashley at the end.
Illos: Liara (since she´s the resident expert) and Garrus (the citadel was his home).
I probably would never take Tali with me. Unless there was an instance of totally cleaning the area of enemies and then bringing her to open something or collect geth material. Otherwise I would not endanger a little girl that can so easily die from a cut in her clothes, much less bring her to a battlefield.





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