not to "D&D 4e was good actually" again but it was basically the only version of either D&D or Pathfinder that had significant variety in what non-casters could do in terms of crowd control, buffing, healing, etc.
classes like Warlord had cool and interesting abilities that in other editions you only see on like paladin and inquisitor abilities in PF or as cleric spells, classes where you're explicitly favoured by the gods to be able to do that, rather than your character just being a really good commander & tactician on their own merits. For some reason teamwork has to be magic in most cases?
i am no expert in such things, but isn't pf2e the spiritual successor and general improvement on 4e? the investigator has its stratagems (and Clue In), the Inventor and Alchemist can both craft things to heal or buff, or debuff with things like Tamper, Medicine + Battle Medicine on its own or + the Medic archetype can let you be an off-healer or literally be the main healer (you can even take Godless Healing if you reject divinity entirely!), the Marshal archetype is available to every martial class if you want to do Warlord-y things, and non-casters have access a lot of pets (companions or familiars) that let you roleplay the "I stand back and tactically command the battlefield" if you want to. Swashbuckler et al lean heavy on being able to flexibly debuff enemies as a non-caster, and even things like Rangers, who might be half-casters elsewhere, are by default non-casters who have tons of utility (you have to opt-in to the casting). I think in this dichotomy you might call Thaumaturges "casters", but they’re a martial class with a huge variety of buffs (amulet or regalia or tome), heals (chalice), or debuffs (bell, weapon, tome, also every implement) depending on which implement you pick. Fighters have some of the best and most reliable crowd control in the game from level 1!