I know that it's highly unlikely to see a conquest mode come out to replace battle mode (where there are 3 or 5 flags on the map with 2 active at a time and it progressively moves closer or farther from your spawn point based on what flag gets captured).
So as an alternative, which I think will give relatively the same effect, could we just have MOTF (Master of the Flag, aka the two flags that pop up towards end of rounds) spawn on every map very early in the round? This will give infantry something to fight over, and ground to try and take and hold (which is where infantry shines). Infantry is always going to be vulnerable when they are trying to run around the maps in a circle chasing down ninjas, archers and horse xbows/archers.
Instead of making infantry chase people down, it will force people to try and engage the infantry who is trying to hold the MOTF. We might actually start to see more "formations" (they would be very loose and rag-tag, but they would start to show up). This would mean that cavalry and archers would have to get into the scrum when your infantry dies and it's just the enemy infantry trying to capture the flag.
I think we'd see a lot more teamwork, it would solve the archer "problem" (which I honestly think archers and light horses are underpowered at the moment, but their problem lies with the battle game mode). Infantry no longer has to choose between camping behind a building for 3 minutes, or trying to run up a mountain to engage 10 archers spread out along it (because let's face it, it's smart to camp and wait for MOTF, but not a lot of people have the patience or intelligence to do so).
In real life, infantry was good at taking and holding ground. They didn't need artificial "go here and hold this ground" like a MOTF spawn. When one infantry rolled the other, there was a decisive winner with one side trying to retreat. But in c-rpg, there is no retreating. When one infantry side controls the "strong point" of a map (whether it's a hill or a village) the round still continues, archers can still pick away and cav can still try to pick off stragglers, and horse archers can still ride around the outside of the map trying to get kills. I think spawning MOTF early in the round will solve the problem, and give infantry an objective to go for (ground to hold) which is really where infantry shines.
There would need to be some tweaking done to the maps to make MOTF spawn relatively "even" distance from both spawns. It should also probably have some variable to adjust the times for how long it takes to put the flags up based on how many people are in the server. Also if you could have different spawn points for MOTF (if it made sense for the map) that would be cool too so it's not as predictable where it will pop up.