A different approach. Offensive, defensive and balanced are tactics. An archer using his pikemen as a buffer is a tactic that results in positioning in space (formation - a line with an offset). That tactic becomes useless when the pikemen split up (the case in KCD; another formation - free for all). The same archer protecting his pikemen (defensive) vs targeting the easiest kill (offensive) is a tactical choice. We could invert this. Pikemen protect archers (defensive tactics and formation) while archers go for easiest kills (offensive). Etc
One could make a case that guard, bandit and Cuman squads should have a tactical bias (offensive, defensive, balanced). Etc
If we had multi-squads or bigger squads, the value of this play element would become more evident and fun. At the onset, Henry could pick the tactical bias of his side (and potentially switch as battlefield evolves).
WH deserves to be commended for improving multi-NPC attacks against Henry. They rush and try to outflank Henry by putting him in C as mentioned by someone else. This though falls apart when Henry fights along side guards.
Nothing quite as immersive as fear. (Did you approach Skalitz slowly, taking in every sight and sound, the dead horse over there, the pile of people who used to be your neighbors over there, worry about a Cuman popping up from around the corner, … that memory burned in your brain likely forever) Henry with a yew longbow or Cuman bow can probably light up some guys with a crossbows or he can rush (as you said yourself it takes time to crank up). Again tactics for a medieval time. This game then becomes rock-paper-scissors. As Henry, you need to know the enemy and use rock this time and scissors next time