Elhoim
Iron Tower Studio Dev
I came to IV quite late and it was the stacks that stopped me from really getting into it, though I do take the point that the AI was much better at using them. I think perhaps there is a middle ground that could work well.
That's why I like how Humankind seems to be handling it. You create limited stacks (armies), move them around as single units. When they get into combat, a part of the map becomes the battlefield, and the battle is 1UPT.
This solves the pathfinding issues, helps the AI move them around more easily, and you can teach it to create proper starting battle formations when combat starts.