Thing is, infantry wouldn’t be walking right next to the tank if you’re expecting infantry with anti armor to be hiding in the rubble or buildings. They’d deploy first into areas with lots places that an ambush could be waiting with the tank hanging back.

If the infantry find something that needs the tank’s main gun, its called up. If the infantry gets pinned down and the rest of the infantry platoon can’t free up their pinned down squad the tank can be called forward to lay down suppressing fire if air support, artillery or mortars can’t be used.