Isn't that basically what you meant? Stat-based skill/ability use with NPCs and with PCs. That's how tabletop RPGs work.
Well i was aware of those. But 1. seems like a coop dialog gimmick and i am not convinced that those [STR] or [CHA] checks for loosing the guards are used on a greater scale, that is why i need an example. What i meant with skill based interaction is: a Quest where multiple solutions are possible (sneak/pickpocket, persuade, fight, etc.).
This was used in Divinity 1 -- it wasn't "go into sneak mode, walkin" -- but rather finding keys to go in through the back door, or lockpicking, or teleporting in; and to a lesser extent an example was given in Original Sin like using the pyramid to sneak into a person's house -- or having one of the characters distract people while the other goes in unseen.
Donno man... there's stat-based interaction between and within groups, multiple solutions, blah blah -- I think the examples are there but maybe they're just not appealing to you?