Pikmin is the closest i've come to define a rts game "cozy" because in some points it is, it is so relaxing to explore the worlds, find more pikmins, complete the objectives, find some fruit, build bridges and all, even splitting up squads in multiple screens works well enough and for the most part it was a pleasant experince.

The only downsides are that for this micro management to works unfortunately the pikmins ai should be way smarter, like not drowning intentionally for instance, that with the boss fights that are just plain boring were the downs of the game.

Even so it's a interesting take on the rts genre and a nice experience overall