I agree that the first two PF2 APs largely stick to this format. But I think this is more a consequence of the kind of adventure they're telling in those books than a feature inherent to the system.
By contrast, the current Agents of Edgewatch AP leans more heavily into skill-based encounters, investigations, and roleplaying than the more combat-centered Age of Ashes and Extinction Curse APs. For example, the heist in book 3 - which should bring the players from level 10 to level 11 - has only three likely combat encounters. And for two of those encounters, the book describes ways in which they might (with some difficulty) be resolved without combat.
(Which is not to say that there aren't sections of Agents of Edgewatch which fall back into the more familiar formula you describe, of course. There definitely are!)