To get to the current solution for pathing I have now, I will simply force the AI into only use my pathing code when they're "charging". Holding a line will make the AI function normally (slightly step out of their line to attack, move back if they're too far away from the line). Example:
Take note of the commands issued, and look at what each AI does (AI's out of range in the line of troops, don't move forward because they're told to hold a line), and how it changes when I issue the 'charge' command (those out of range are free to move again, going into my pathing AI code). Also note the target switching (they change based on the closest enemies, and how many teammates are targeting that enemy currently, to not "clump" too much on any single given enemy).
I will alter the turnrate, later on, so if they turn to attack you, you must react faster (like a normal player in multiplayer)!