I need to go back and do an insanity run. Any tips to breeze through it?
Soldier. Adrenaline Rush should be the one that increases damage dealt, not the one that reduces damage taken. Spec for maximal health. Spec for Tungest Ammo. Use Revenant.
Miranda for squad stat bonuses. Have her use Tempest (for the AI cheats and is super accurate). Garrus or Thane is a good secondary friend, Garrus specced to Tungsten ammo and extra damage (Turian... Rebel? Can't remember). Thane should have extra damage and Warp maxed out.
A note on Warp: Always pick "Unstable Warp" for friendlies as that has lower cooldown (6 second instead of 9).