I wasn't kidding about Classic Car Wars...
it does assume people to be 150 lbs and able to run 20mph... but aside from that. Man to man, tactics matter, because if you can be hit, you're TOAST. The car combat is the heard of the design, and is probably one of the more realistic maneuvering systems out there. Man to Man combat can happen, but tends to be 3 hits... I hit, I hit again, you hit the dirt/pavement/floor. But the car combat is super tactical, and, while a touch slow, really quite a lot of fun.
But for more discussability, I'll mention my next favorite...
Prime Directive 1E - it pretty much seems to assume minis use, but I've not used minis with it, and only rarely needed drawing. The initiative system is complex, but dual axis result - both when you go in the round, and how much you get to do in the round.
Most of the combat is going to be with phasers, and it's got a decent reason for not using higher settings all the time: power limits. Yeah, this does get fiddly.
Further, the primary role of the party is as a special ops team, so tactical situations are extremely common. The list of tactical mods aren't too long, but are robust. And, given that you can't count on getting an action next turn, and that a lot of times, you're act but with limited actions...
The initiative also causes the random popup mode seen most often in DS-9, but not uncommon in ST:TNG...
The combination is pretty much a lot of fun, and one has to account for unreliable action capability.
I'll give honorable mentions to GURPS and Hero System.