I don't know why no one has copied Shining Force and added in overworlds and towns. Like, seriously, I have no clue. That was awesome, and I want more.

That said, Final Fantasy Tactics games have a bit more, especially A2, where there is a ton of variety to the types of combat, and tons of optional character moments in inns, or when traveling the map.

Fire Emblem brings in a ton with the Support system. Other games have had hidden shops and items, which also help.

But, really, it's the characters, stories, and worlds that carry these games. The combat is only engaging as long as you have a backdrop. It's not just "fight battle here", it's "escape from castle while being attacked" or "rescue captured person". Don't think of it as one long fight scene. Think of it as a mission or dungeon, with fights scattered throughout when two characters meet. It's just how you approach things that's a bit different then.