I mean the idea of rescuing someone captured on a mission was going to be in the Garrison and the Order Hall. It was scrapped both times. Closest we got was "oh hey my raid mission popped, time to send some followers out for 3 days to get an item that gives me a quest to LFR this boss so I can get my mythic loot."
Honestly, one neat fix to give missions more grounding in the world is take the whole "lets you automatically complete 1 world quest a day" talents several Orders had in Legion and expand it.
No more random missions against no-name enemies. You send your followers out to do World Quests. It'd take like 12 hours per quest, 24 if it's a rare quest maybe, but it'd feel more relevant than just sending them to investigate Krasus' Landing... again.