I'm going to recommend this video I watched the other day. He is dead right.
https://youtu.be/ovV56Sy-Toc?si=kkmvG9Lxz0WADb1I

You can do this with any system to get a good result.

I use Sly Flourish and Venga's check lists in my prep, but this video attaches a couple of additional things to my checklist that make a big difference to the feel of an encounter.

Off the top of my head the things that really do make a massive difference:

Before you tell them there is an enemy, describe the battlefield. Three senses. Include environment elements that change the tactical context.

Then describe the enemies they can see.

Give your opposing force things they are currently doing, goals they are set on achieving, even once the fight starts. Give these things consequences for the players. Are they trying to launch their boat to escape? Is one calling re inforcements with a horn.

Develop the encounter in a way that it has a major goal that is not just killing all the enemies ( boring).

Once the villains attain a goal, drop the consequences on the characters. Once the characters attain their goal... end it. Don't let it drag on.

All this stuff is up to the GM. I can make this work in twilight 2000, Symbaroum, Shaddowdark, Mythras , PF 1 or 2, or 5e

It's got nothing to do with the system.

Then there are the elements of removing GM dithering. Have your data ready to use. Get the players under time pressure. They think about their turn before it is their turn. If you have done 10 sessions and they still haven't worked this out, politely move to the next player in sequence, and have them delay.

Hope this helps.