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Would the Unreal Tournament games and Quake III: Team Arena count? The AI team members can be given Defense, Offense, Patrol, Camp (Q3TA) and Defense, Offense, Follow, Roam and Camp (UT) voice orders.
Would Resonance of Fate and the Shrek II game count? IIRC they would allow you to swap who you were controlling and teammates controlled by the computer.
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How well does it match the trope?