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https://store.steampowered.com/app/1121420/Kingdom_Under_Fire_The_Crusaders/
https://store.steampowered.com/app/1315200/Kingdom_Under_Fire_Heroes/
Maybe this one would count, too (never played it, but always wanted to try):
https://store.steampowered.com/app/294590/Wars_and_Warriors_Joan_of_Arc/
At least those are the ones that come to my mind right now and are available on Steam.
I am still waiting for a re-release of Rise & Fall Civilizations at War , while it's first and foremost an RTS it also has a third person mode you can use every once in a while, it was absolutely great. Nowadays it's abandonware, so you could try it too if you can find a running version.