From my experience, it's all down to encounter design and the additional items your character is carrying.
Encounter design obviously relies on the GM being a bit creative. Besides allowing for more creative maneuvers like the old standard of swinging from chandeliers, having different levels on the terrain so the fighter can stand on a chokepoint and say "fuck you" to everybody is a good start. Or allowing for shove actions to throw enemies off ledges. Having the encounter rely on more mechanics than just "kill them before they kill you" also helps. One encounter design trope my GM likes using is to have a regular threat that can be disabled by a character interacting with it (in a way that can't be done with Mage Hand). Shutting doors to block reinforcements, shuttering murderholes things like that. Yes, the other melee characters can also do it, but the fighter/barbarian can take hits better on the way to/back from it, and the amount of damage "wasted" is lower compared to the rogue doing it.
As for items, it does depend on whether your GM allows for a more narrative combat as opposed to treating all the NPCs as mindless drones. A bag of ball bearings or caltrops can really help shape and control the field. A hunting trap concealed under some debris is a great way to spring an ambush on a patrol. A flask of oil (or greek fire if your GM allows it to be self-igniting) setting a bandit on fire can help disorganize and demoralize the rest of the gang (also great for throwing into Kobold murderholes to get them to scurry out and stop shooting). Grappling with and putting manacles on a fleeing opponent will give you someone to interrogate.... things like that.
Sure, it might not be the most efficient way to play, what with the Action Economy and the damage race ultimately ruling over the game... but I personally find it more fun and satisfying to do more than just "I move and then I hit him with my axe" every turn. It does rely on a GM that sees the combat as more than just numbers, though, and I'm fortunate to have one.