That's exactly what I'm talking about yes. I just get a bit annoyed when people talk about turn based like it's a fundamentally archaic type of gameplay incompatible with modern AAA presentation. And yeah, obviously action games have different strong points. One of my favourite game of last year was Furi, so I'm not exactly allergic to the genre.
To take your Guard Scorpion example, it's simply a matter of creating and sustaining tension. Like you said, action games have an inherent advantage in that respect because they require ongoing concentration and response from the player, but turn based games can leverage their slower pace to create tension by presenting a more complex situation to the player and asking them to make more meaningful and long term choices.
Tactical RPGs are a good example of the idea indeed, with complexity coming from the numerous elements the player has to keep track of simultaneously. The tension doesn't come from timing your dodge and such, but from not fucking up when making a decision. Though I'm not sure about the comparison to a small party-based rpg. I suppose you could compensate the smaller number of units by upping the amount of actions each character can take, the interactivity of the environment, the number of targetable areas on an enemy, how they react to attacks, etc.
Of course there's also nothing forbidding some elements of timing. For example, instead of having a strictly turn by turn system, you could have a tiered ATB gauge, letting the player observe the enemy and deciding when to take their turn, not unlike FFXIII.