Lo-Fi Games

I am sick of having my guys set on defensive running off way way out of position to "protect allies" when I specifically want them doing something else.

I think a nice compromise would be to have it as a right-mouse feature, which alternates between 'stay' and 'at ease' depending on their current status (i.e., whether they cannot move from the spot on their own, or if they're allowed to deviate and, say, help defend allies like you mentioned).