I don't know if this is a best way but I guess works with my playing style.
I speed up PzGrenadiers and Marauders to strategic points before enemy gets to it and regroup infantry units so they have nice view. Depends what kind of terrain is but I keep infantry covered in trees or buildings and APCs at backline so ATGMs can't get those. Other cheaper APCs also would do fine, but I like that I have least one ace in my sleeve if enemy MBT shows up. Infantry ATGM is vulnerable to arty and enemy inf. so if they gets wasted out, I still have that one ace to use against MBTs.
Usually play with Germany at early 90s and I have problems getting rid of enemy MBTs, 2A4s are darn expensive so I don't have afford much else and 1A5s are crap against UK or US tanks, which against I play most of time. So ATGM APCs come handy then
