I think AI should have captains in their parties. Just a few spot-on captain-perks on my campanios and they start to feel like making a difference.
They could be full-out companions
or
The highest tier unit in each formation becomes a hero for the duration of the battle, getting perks suitable to lead his formation. He is somehow marked on the battlefield
They could be full-out companions
or
The highest tier unit in each formation becomes a hero for the duration of the battle, getting perks suitable to lead his formation. He is somehow marked on the battlefield