ME2: Which Squad members would my Vanguard benefit the most of?

If you are looking to play with the same squad members as often as you can, then Jacob and Miranda can be used the most in the game, and Jacob most of all.

Since you are playing on Normal, your biggest choices will be whether you want to prioritize crowd control (CC) or defense stripping. Since most enemies on Normal do not have defenses, I recommend CC.

Your best CC options:
> Jacob, Jack, and Samara/Morinth (Pull)
> Mordin (Cryo Blast, Neural Shock)
> Kasumi (Flashbang)

Jacob can get to Pull Field the quickest. Jack and Samara/Morinth take about the same amount of time but you can recruit Jack much earlier than Samara without modding. Since you plan on using Area Charge at first, you can have squadmate Pull > Shepard Area Charge.

AreleX's Beserker Vanguard made extensive use out of Kasumi's Flashbang Grenade.

If you prefer defense stripping to help with the few protected enemies on Normal, then I would use:
> Garrus (best squadmate Overload because of power damage in passive)
> Miranda (Overload, Warp)
> Mordin (Incinerate)

Kasumi has Overload, but remember that her cooldown bonus in her passive does not work, so she is better off replaced with Garrus or Miranda. Tali has Energy Drain, but it is locked behind her loyalty mission.

Well I guess I will take Garrus first and then go recruit Jack, I am curious about that team combination, thank you RedCeasar97 and Exile Isan.