That was in the PC version as well. The odds of the command appear will increase if a unit is in a good position to tank some damage. The formation does matter, as well as the units' position in it. If you run with a defensive formation you'll see that command pretty often.Blocter can apparently tank now. He has a command that lets him enter a defensive stance where he takes all the attacks while those in the back ranks can deal with the enemies.
At first I thought it was because of the formation I was using but it's the class that determines it (He became a Monk).
One example: some of the healing/support classes can get some pretty crazy commands later on. If one of your other unions is Cursed or Enthralled, sometimes you'll get a "Cure them even if it kills them!" command, which KOs and revives the units in one turn, in order to remove the ailment.
There are quite a few unique attacks. Leaders with Remnant weapons can all use a special attack (e.g., David's Gae Bolg), and unions can sometimes unleash a single powerful ability (an Arcana) in place of their usual individual attacks, if the conditions are just right.