Battlefield 1942 comes to mind as some predecessor close to what you describe
That being said, I think Halo deserves commendation for bringing a lot to the mainstream without compromise. The same people that casually enjoyed Halo were probably not also playing Goldeneye or Arma in their free time. And marketing be damned, Halo is fun even today. Hopping in a match of CE makes me lament how little team-based shooters have progressed in the past 20 years.
Picking up a tank or a jeep is one thing, but going for controlling an aircraft carrier or a submarine? Even if the controls were really primitive, it felt amazing!