It takes a little practice to make it fluid, but the trick with those enemies around corners (hidden on farsides of structures) is to sight on them before breaking cover. Then watch the reticle for yellow when you have a clear shot. Once you get the timing right, after a bit you start to pop out and clear those hidden guys well. It's also possible on many high ledges to do the same tactic almost right over them on far side of buildings when they are up against the far wall. Just look for the yellow to pop them.
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