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What is the best way to take out infantry who are entrenched or in cover on higher ground than me?

Flamethrower

OR move a tank within 3 hexes and fire, effects are more devastating compared to if you fire from say 10 hexes away. (If the particular tank has HE)

Or if you don't have the above 2, use 2-3 infantry squads, 1 to take the casualties and the rest to wipe out that particular squad.

I have noticed that some tanks have both HE and AP ammunition.
How do I know which one it is going to fire? Do they do this automatically when it's a soft or hard target or is there some way to select this?

Weapons will fire HE at units that are unarmoured.
Weapons will fire AP at units that are armoured

Weapons that have no AP will not opfire at an armoured vehicle but they will fire directly at such a target.

The best way to take out any unit is to supress it with artillery then advance to finish it off with infantry.
The light mortars work well for this since they are an integral part of an infantry platoon.

I agree with flamers, but mgs and grenades works just as well.
BTW Its 2 hexs for HE rounds.

I've always wondered why big guns fired from 2-3 hexes away made a bigger explosion.

Also try direct fire where the enemy might be hiding. In city maps like Stalingrad, flametanks/wagons work well in rooting and or just plain burning down enemy infantry.

I have found that preparing the way with arty is the best tactic.

1) spot with recon
2) bombard with 81mm or greater if = or more than 2 hex distance to your unit, 60mm if next to, match arty to distance from your units. Forget airstrikes on infantry only, although mortar and AT/AA/Fortifications are targeted well by Airstrikes
3) wipe em out, flamethrowers, overrun are preferred tactics

All have to do with suppressing the infantry. Once suppressed you can do a # of things. Overrun, move tanks and other infantry into or next to the hex.

It is very important to know what kind of infantry you are facing? Why? you ask, because if it is SS GE with Panzerfasts 60's or 90's you will be very upset when they destroy your Flame-tank trying to get to range 2 on them.

If the infantry only has small arms you can use your flame tank, or other tanks and afv's. But make sure not to get to range 1 with the infantry or it will assualt your AFV.

As far as the safest I would go with Bigtroutz's suggestion. Hit them with artillary. Make sure your artillary lands on .4 though. This way your opponent does not get a chance to rally his troops before you attack.

Also a couple of well placed smoke rounds can easily netrilize the best overwatch positions.

Finally any Quad 50 mg will eat up infantry weather they are in cover or entrenched.