COG Published Titles:
- Saga of the North Wind
- Pendragon Rising
- Chronicon Apocalyptica
Hosted Games
- The Lost Heir trilogy (more fantasy-leaning, but lots of battles)
- The War for the West (work-in-progress but pretty close to being done)
seem close to what you’re looking for. Choice of Rebels (COG) is fantasy with some historical inspirations, but it also might fit what you’re looking for.