There is a good reason why doctrines set out minimum sizes and spacing for FUPs. The FUP is the place where the force deploys into the right assault formation and everyone gets into their right positions. In RL, if a force is already engaged with an enemy then it is said to be 'fixed' and a commander will usually leave the fixed force where it is and flank with another part of his force. If you end up with all your force close to the enemy and fixed, then you have failed to maintain an adequate reserve. It's an easy trap to fall into. You need to resist the urge to commit all your force and if you must commit your reserve, then create another by pulling some of the engaged forces out of the front and redeploying them in reserve.
If we were to provide an inSitu attack option, then we would need to also apply a significant penalty on the assaulting forces' cohesion, because they would not be attacking from a properly organised layout. It would need to be serious enough to discourage its regular use.