I just downloaded the demo for this game. From what i've seen so far, they did a lot of work with the squad based shooting.
When you look at a certain object your crosshairs turn into an icon and a white silhouette of one of your soldiers. You then press the F key and one of your soldiers will move to that spot.
For instance, if you make them move behind a box, they might throw a grenade at the enemy or snipe them from afar. You can tell your troops to man turrets, and sometimes they'll do it themselves if they feel like it.
When you see a door, you normally have the option of slicing the door (For a stealthy approach) or blowing the door and throwing a grenade in (Requires all three of your squadmates but its really cool. Don't use if you're trying to be sneaky).
Sometimes you can even create demolitions charges to blow open walls or windows.
In the level that I played, you free a wookie and he helps you fight. Unscripted, the wookie may pick up an enemy and slam him into the wall, or kick him around 20 feet.
This looks like a great game and you should definitely get it when it comes out for console or pc.