My approach with miniatures is to not go into a tactical boardgame, but to use them to represent facing, proximity and distance, and surrounding terrain and features (buildings, vehicles, trees, etc.) appropriate to the scene.
As for figures that I've used:
Marvel Hero Squad, though these are larger than typical 25-30mm figures.
Silver Age Sentinels official figures from some years ago.
Paper printout cardboard heroes from Autoduel Champions.