Especially as someone who played Chivalry, I feel the dominion mode lacks a lot of "battlefield" immersion.

The clash of armies, the chaos of hundreds against hundreds, or even thousands of soldiers running across the place.
Now with just 20 minions in the middle which barely even move, the difference is a stark one.

Minions should be charging all over the battlefield, creating visual chaos.
There should be way more minions.

I don't know how possible this is to realize, considering it is bound to server, connection and client performance, but I think there needs to be something done about it.
It would throw the player right into a movie-like environment and make for unforgettable moments, as games like Chivalry or Planetside 2 have demonstrated and awed people with.

Besides visually and mechanically, there is also the auditory position to tackle this issue from.
It needs the sound of battling armies.