Before modern firearms, there was no accurate way of killing the enemy from a distance. If all the soldiers are taking cover, then no one is actually fighting, they’re all just hiding behind trees waiting for enemies which never arrive.
If you want your soldiers to defeat the enemy, you can’t let them hide behind trees, you have to make them go out and fight. This worked from the days of clubs and spears and swords, and kept working with early firearms and bows, which were not very accurate.
Once you have automatic firearms, anyone standing out in the open is massacred, so taking cover is the only possible action.
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