Dynasty Warriors: Origins has scratched a very specific gaming itch I've been having

We've probably all played MOBAs, bless our hearts, but if not, let me explain one of the basic gameplay mechanics.

In MOBA games like DOTA and LoL, you control a character, and your goal is to get the minions/creeps to the opponent's base and destroy it. Your job is to guard them by killing your opponents' minions/creeps and killing the opponent players who are trying to do the same to yours. Essentially, you protect and escort weak little guys whose job it is to destroy the enemy base.

Dynasty Warriors Origins has you filling a somewhat similar role. You play as a single character the whole game this time, but your role on the battlefield is largely to go around helping your allies who are having trouble, strategically focusing on the most important areas.

This really scratches an itch I've had after playing MOBAs but not really getting into the multiplayer or competitive side. I want to play as a powerful character who can't do everything by themselves, and has to assist their allies.

I'm aware of games like Brothers In Arms or Mount and Blade where you command and play at the same time, but having these big battle maps with multiple directions to attack is really fun.

Have you played any games that give you a similar feeling?