I remember back around 2010 or so PlanetSide 2 was great for this. Battle maps the size of RPGs, distinct roles and objectives. You could be pushing down the road with the 12 other people you spawned next to, get into a fight with 15 of the other team's bad guys, next thing you know the focus of the entire battle has shifted to defend your position..

I only got to play a handful of times because none of my friends had a system that could run it, and by the time most entry level systems could, it had died.