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I agree, Miranda and Jacob are much more interesting, I never cared for Kaiden or bigot Ashley. Furthermore, the achievements in ME1 detracted from the game because if you wanted them, you had to have multiple playthroughs always using the same 2 team mates. But they were there with their own stories, and different abilities that should have been used depending on the mission.

ME2 is so much better in that regard, because now you really can take anyone you'd like, depending on the mission parameters.