I think a lot of it depends on how you are speccing your particular class.
Adept:
Since you are always going to have Singularity and likely Pull as well, then Miranda and Thane for Warp bombs.
If you are concerned about shields, then use Garrus since has more power damage bonuses for his Area Overload.
Pre-Thane, Jacob (for obvious reasons), followed by Jack for her Pull.
Engineer:
If you are defense-stripping, then Mordin always, since his rank 4 Cryo Blast has the same cooldown as your Demolisher/Mechanic (+20% cooldown) Overload and Incinerate. Basically you Overload/Incinerate > Mordin Cryo Blast > shoot > repeat. I like to use Jack as a second squadmate for more rapid crowd control.
If you focus more on your other abilities,... I would still take Mordin for more crowd control. But you can always switch in defense strippers instead.
Soldier:
Does not really matter I suppose. I usually take Mordin and Jack since I shoot off defenses, they crowd-control, I shoot some more.
But Miranda/Thane for Unstable Warp (9s cooldown) and Jacob for Pull Field (9s cooldown) also work great with the Soldier. You shoot defenses off > Pull > Warp bomb.
Infiltrator:
Infiltrator does not work well with others if you Cloak spam.
Maybe Kasumi for Flashbang to keep enemy fire off your squadmates so they stay upright?
Maybe Grunt if you think he actually stays upright longer than other squadmates. Same with Jacob using Barrier and Legion using Defense Matrix? I don't know.
Vanguard:
If you use Charge extensively, then it practically does not matter. Defense-strippers could work if you want to charge enemies to knock them out of the way. Kasumi if you want to Flashbang enemies first before charging in.
If you use more of your biotic abilities, then Miranda and Thane to Warp-bomb your Pull. I like to do that.
Sentinel:
If you take advantage of the "Tech Armor resetting cooldowns" glitch/bug/exploit/feature, then you can do some really crazy things with your squadmates, such as Miranda+Jack/Samara/Morinth/Jacob (Overload > reset > Pull > Warp).
Otherwise, you may want Pull-bots to help with your Warp/Throw, or Mordin+Pull-bot for crowd control if you use Overload and Warp for defense stripping. Or if you use Cryo Blast and Throw, you may want defense strippers.
Bonus powers affecting squadmates:
If you take Slam, you will want Miranda and/or Thane for Warp-bombs.
If you take Energy Drain (like on an Infiltrator using Incinerate and Energy Drain for defense stripping), then Mordin and a Pull-bot most likely.
If you take Reave for health-leach, then defense strippers most likely. If you take it for Armor+Barrier stripping, then crowd-control with Mordin and a Pull-bot.
That is how I look at it anyway.