All team members need to be loyal for them to survive the suicide run, no matter how well you play. Also, before going into the relay, your ship has to have all of the upgrades or even loyal members will be killed before actually landing on the Collector base.
During the end runs, this is what you need:
First run, you chose either Miranda, Jacob or Garrus to lead the Fire team (no one else can do it and survive).
Then either choose Legion, Tali or Kasumi to go through the heat vents.
On the Long Walk:
Again, the same three for choices for the Fire Team.
For a Biotic, you choose either Samara (or Morinth if she is there instead) or Jack to protect the squad from the Seeker Swarm. I found taking Mordin on this part along since he is awesome against Husks and Abominations, and having Grunt since he can take a lot of hits.
Any squad mate can take the saved crew member back to the ship. I would use either Zaeed or Thane. But if you want those guys along, then use Mordin or jack. IMO, Jack is the weakest link in the end run and she could be used to take the crew back since you's still have Samara or Morinth to do the Long Walk. Samara's Reave power works well against the collectors.