You should really play Samurai Warriors 4 II (Dispite what the name might imply, it's not an expansion or add on. It's a full stand alone game). It's got a couple features that drastically improve the flow of the gameplay over other Warriors games. The first is hyper attack combos, which are dashing attacks (Think the dash/aerial combos from the DW Gundam games, but on steroids.).These attacks let you quickly advance to the objective and deal with crowds of peons at the same time (The horse is still usually a bit faster, but the hyper attacks have far better crowd control than the mounted moveset). The other feature is that the game has you play as two characters instead of just one, and you can switch between the two at any time (whoever you aren't playing as will be AI controlled). This becomes really useful when ambushes/side objectives happen on the opposite side of the map. You can just order your partner to head over there while you continue what you were doing, then switch to them once they get there to deal with it. These features drastically cut the downtime that typically plagues certain types of stages, and makes every stage more enjoyable overall.
Samurai Warriors 4 II is like my 2nd or 3rd most favorite Warriors game (Behind Dynasty Warriors Gundam: Reborn and MAYBE Warriors Orochi 3 Ultimate). The only real problem I have with the game is that the weapon upgrade system is kinda stupid.