They’re not as free form as you described, but the Frozen Synapse and Doorkickers series might tickle your fancy: https://store.steampowered.com/app/98200/Froz

They’re not as free form as you described, but the Frozen Synapse and Doorkickers series might tickle your fancy: https://store.steampowered.com/app/98200/Frozen_Synapse/ https://store.steampowered.com/app/98200/Frozen_Synapse/ https://store.steampowered.com/app/248610/Door_Kickers/ https://store.steampowered.com/app/248610/Door_Kickers/ (They both have sequels too)