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The AI of OFP and ArmA was allways so dumb. to plan a "stealth" attack with AI is maybe one of the difficult task you ever faced.
it would help to put them long before you reached the AO in Stealth mode and let them go prone. then the "hold fire" command will work. but Careful, i lost in Years more AI than i can count, only trought this, cause of the AI will rob direct in front of the enemy without saying a single word and get shoot.
The Pathfinding was allways difficult but be happy, "in the old times"™ Pathfinding of the AI was way more worst then today. Toady they can "only" get stuck and dont kill himself by drive straight into Water or fell from somthing high ike a Flying Chopper or something. ^^