The "Empires" spinoffs of the Dynasty/Samurai Warriors franchise were a fun and distinct take on the series. At their core, they were still centered around the same musou action gameplay. However, instead of just progressing between stages, the whole game is a full strategy game. Just like in Koei's Romance of the Three Kingdoms series, you pick your warlord and try to unify China or Japan. The big difference is that whever you invade someone, the battle plays out as a musou stage.
Adding in a strategic layer adds a ton to the experience. You can do stuff like hire ninja squads in the strategic layer who then help you capture bases in the action gameplay. The strategic layer also gives you a goal to aim for that provides a sense of motivation and investment. Personally, I enjoyed the experience a lot more than the vanilla Dynasty Warriors games, but I presume that they didn't sell well. Still I would absolutely love a Hyrule Warriors Empires.