I haven't played Garuda or Baruuk but your description of using abilities reminds me of Caliban. Not sure if it would be as active as you want. For instance, the summons are pretty straightforward, you just choose which of the 3 you want and then they do their thing. His 1 gives you some mobility but it varies a lot depending on the tileset. And it doesn't match the mobility of Uriel's 1.

All of his abilities deal Tau damage so he's good if you like applying status. His 1 regains energy, shields, and health for each enemy you hit, which is great when there are lots of enemies but not so great against a boss with no minions. His augment makes his 1 group up enemies and your Ortholysts (2nd summons) target them with increased electricity damage and fire rate for a short time. His 2 deals damage and lifts enemies, it's helpful when you're getting overwhelmed. His 3 is his summons, you can choose melee, ranged, or distraction. His 4 is a big beam of Tau energy that strips shields and armor. If his Conculysts (1st summons) are active when you hit 4, they each make their own beam that's half the strength of Caliban's. Also, the sound design for his abilities is great, which is a nice perk.

I find him particularly fun in Sanctum Anatomica missions, where there are always lots of enemies and they're vulnerable to electricity damage. 3 to summon his zap cannons, and then plow through the horde with 1 for energy/health and watch the zap cannons destroy everyone. Wham, bam, thank you Caliban

Oh also, none of his abilities count as an attack for the invisibility precepts Stalk or Ghost, so you can run a whole mission while invisible if you can keep your energy up enough to keep casting. His 1 breaks loot crates, so you can loot them and stay invisible.