Just throwing something out there: maybe there could be a user-togglable option that, when activated, makes teammates show up on your radar also? Teammates would be either yellow or green dots (whichever looks better). That way you could see if teammates are nearby, which'd be useful for humans when retreating. If you were weak you could run towards a teammate in the hopes that he can back you up.
And then in larger games, where all those yellow dots would be distracting, you can just deactivate it. Heck, they could even default the toggle to a button.
Comments?