If you are playing single deck, first round, dealer shows Ace...
in this admittedly special situation, you can make a perfect insurance decision if you can see all the players' cards before making your insurance bet - this is done by doing a "ten-count" for this round only. It is fairly easy, as follows:
If you can see a total of 5 cards (your hand, another player hand, plus the dealer's Ace) and you see no tens...take insurance. The ratio of non-tens to tens is 31/16.
If you can see a total of 7 or 9 cards (your hand, and two or three other player hands, plus the dealer's Ace), and you see ONE TEN or less...take insurance. The ratio of non-tens to tens is no more than 30/15.
If you can see a total of 11 cards (your hand, four other players hands, plus the dealer's Ace) and you see TWO TENS or less, take insurance. The ratio of non-tens to tens is 27/14.
Sometimes you can infer what the other players are holding even if your can't actually see their hands. If they tuck their cards, this could mean that they have 17 or higher, so there is probably at least one ten hiding under there.
Thanks to Lawrence Revere and Stanford Wong for this advice from some really old editions of their books.
AB