Some of my favorite chapters include:
FE1 the Eternal Palace, a fast paced map with multiple incentives to prevent turtleing, be it preventing the prisoners from dying or getting the treasure, speed becomes important, and every decision counts
FE 6 Chap 14, once again encourages speed, and actually does an escort mission, which has to be my favorite objective type in FE as future picks will make apparent
FE 7 Battle Before Dawn, my only gripe with this map is FOW which I hate, but I love and hate this map for being a defense mission that isn't easily trivialized. Speed once again becomes important, as Zephiel really needs protection.
Flame Shield up
My favorite map in the series actually comes from a game that is rightfully bashed for it's poor map design overall, but dang is this a diamond in the rough, Severa's recruitment paralouge is always a joy to play for me, since quickly traversing the map is important, it's an escort mission, and your army has to be spilt in two to effectively complete the stage.