Sufyan: The default plans after mission four have no waypoints but they do come with a suggested team rooster to make sure you are bringing the right kind of specialists (eletctronics etc). Planning is about 50% of the game and by that point in the game it's time to take off the training wheels. It can seem very daunting at first but it is usually as simple as making two or three teams and give each of them a route through the environment that will cover most corridors, while one team is used to escort hostages/disarm bombs/whatever the mission asks of you beyond killing all the bad guys. My plans usually have one or two Go-codes, usually as the first step of the mission involves my fireteams getting into positions at locked doors and other entry points and wait for a go-code ("alpha, go!"), then rushing through the outer environment killing guards and stack up for the final assault on the inner core waiting for the second code ("Bravo, go!").

While playing a mission you might find one team takes losses but the others are doing fine, or perhaps everyone is doing fine until the very end. Try and imagine at which point something goes wrong, go back and look at your plan and make adjustments (perhaps you need to ask the team to be extra careful about one particular room or have them wait for another team to finish their sweep before continuing).

You don't need to be a master tactician or anything. You are mostly trying to make sure that your AI team members are going into every room and corridor of the map, they can handle the fighting without much input from the player. Some points of some missions might require more careful use of the mission planner tools and Go-Codes, but I've never seen a mission so complex as to need more than one or two special considerations. I have not finished the game yet though.