Haha, I put myself in a bad (stupid ) spot where my armadillo was the only thing that could get to the soldier and get a shot off. I just manually aimed to the side and was lucky enough that only 2 of the rounds hit. He came out with half his health (and a few trust issues) so I call that a win!
I have found when a soldier exits the armadillo they only get a move option, not a move and shoot option? Might just be the guy I am using as my driver. His assault rifle might take up to many TUs to get both in.