As for infantry, they have a huge problem battling in cities, agreed, only a few up front fight while the rest hang back and leisurely stand there doing little. Siege battles are very unbalanced and need to have a major overhaul.

As for battelfields though, I have been able to make infantry charges as effective as the knights using the same techniques. It was great to finally see my whole unit charge and crash into the enemy line. The cohesion problem has to do more with siege battles.

All one has to do is form up the unit, get into the charge radius, click on the enemy and they will charge correctly. It is not the same at all in rome total war where you double click to charge, if you double click in m2tw, the formation will fall apart and they will not charge correclty. It makes sense, they always start out walking, then they go into a trot, and then into a full battle charge in formation, where the whole unit will crash in and begin fighting.

Test these out in custom and campaign battles and you will see this works.