well, in my experience, audiences can differ a lot. Most more progressive rock things don't really draw out a "party crowd", often people just prefer to stand still and enjoy it with their eyes closed from time to time, gheh
Red Hot Chilli Peppers - Scar Tissue, Slane Castle 2003. The jam at the beginning, the crowd reaction upon realizing the song and then singing along, John Frusciante's solos and backing vocals. Perfection.
Basement's performance of Covet from Sound & Fury 2019 had the mic completely cut out and the fans just sing together
Have Heart closing their reunion set at Sound & Fury with Watch Me Rise, once again and entire venue just singing in unison.
I know this happens at large concerts all the time, but there's something magical when this happens in smaller fests where there's diverse lineups and audience there. It creates a sense of intimacy that can't be felt when you're sitting in a 50K arena.
Definitely not as well known as the others posted but I always love Identity by Sakanaction. Its usually used as one of the finales to their solo concerts.