When it comes to the basic infantry they're very similar. Like Spitz mentioned there are differences but positioning pays off more. For advanced infantry they come with some extra bits, like Rangers have satchel charges which are unique compared to the usual dynamite. You can place them and they won't explode until they're hit with something like a grenade.
The best way to figure out all the differences is just to run a game by yourself on high resources. Go through each squads inventory and play about with the weapons.
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