This is a little thing, but a lot of my games a while ago were in a human and goblin country that overlapped. I would recruit soldiers to go out on missions and we would be ambushed by goblins. After a few games of this, I discovered that both sides in fact had uniforms; my side had helmets engraved with our symbol, two windows, while the enemy had theirs, "images of forgotten beasts". A small detail, but it went a long way in helping me envision the fights.
On a larger note, I discovered that ambushes scale with how many companions you have. My most successful adventurer had built up fame killing night creatures and bandits, as well as a coral titan (which my swordsman friend bisected) when I decided to build up the biggest army I could. Almost immediately, my seventeen soldier "army" of mostly new recruits was ambushed, by 34 goblins. I counted. We were totally surrounded, and the ensuing fight was just... epic. There were multiple groups of fighters, arrows flying everywhere, huge lists of injuries and attacks, and the tension of knowing I my side was losing. One human wrestler immediately grabbed the closest goblin by the throat and spent the entire fight strangling him to death, while pretty much everyone on my side was slaughtered, taking around ten goblins with them. In the end it was just me and the aforementioned badass swordsman against the whole squad of goblins. In a brilliant burst of intelligent AI, he decided to retreat, and then we tore them apart one at a time when they got spread out.
Actually, as I found out later, the companion AI isn't smart enough to retreat when losing. What actually happened was he thought he was mortally wounded even though he wasn't, so he abandoned the fight, then he rejoined it because he thought he recovered. But, still, that one taste of being part of large scale combat, even with a group of total strangers, was so incredibly fun. I can't wait for the army arc.