There have been sooo many cases throughout the missions where it's "Deliver this to the squad in need!" or "Protect the squad deep in the Clockworks!" However, you usually don't actually get the feel of actually doing these things at all. Couldn't they be...more interesting? I started thinking about this after I posted the thread on rescued knight's AI. This actually is quite similar because some of these ideas allow you to fail the missions. I feel that including more "standing out" objectives will ultimately make the game feel more varied in a good sense, at least when only counting missions. I'm only mentioning Prestige missions, but this could be applied to many more missions as well. Text like this indicates a possible fail factor.

• Nature of the Beast (Rescue the Geo Knights from the clutches of wild beasts!)
  This gives me one thought: a wave battle in the Geo Knights' site. Our team is under attack, right? Why not have it so that a party button in the middle triggers a set of waves of monsters? The armed Geo Knights would join the fray, while the defenseless ones (if any) would stay away from the Wolvers. (Can you see a knight running around and flailing his arms? xD) Because you'd get some help, the fight here would be a bit brutal for its tier. Too many Geo Knights die.
• A Pinch of Salt (Deliver a shipment of rock salt to the research team stationed in the lichenous lair!)
  This one always makes me chuckle on the inside. You see all this Rock Salt, but where did it all come from? If knights like yourself did it, it must have taken a lot of trips. Why? Well...how the heck did your knight carry that stuff into the team? In your pockets? That would have taken a lot of pockets...anyway! I think this should be like for the Winter event, where you had to carry presents around. You would start with a large pack of Rock
  Salt strapped to your back which would slow both your movement speed and your attack speed greatly. You'd be stuck like this for the whole mission. (Well, until you deliver it to the team in need.) If you lose too much Rock Salt. If this was the case, you'd lose a bit for each time you take a hit. This number would be carried over from the first level to the second one.
• Hazardous Heist (Steal the gremlin schematics from the gremlin construction site! )
  Simply put, I think that once you get the schematics, the whole place should fill with gremlins. Not enough to make the game lag, but enough to give you a sense that they've spotted you and are trying with all they can to stop you from escaping. They would drop nothing besides hearts/vitas, and would respawn via respawn pads. Ummmm....you...might, like, die and say no to energy reving?
• Assault on Machine Shop 13 (Destroy the operational war machines within the ruined factory!)
  According to the description, constructs should be getting build here. I think there should be machines which work like the barracks in OCH that churn out constructs. These could be destroyed. This would give the place more of a "factory" feel to it. You die. And then the button that says "Go to Haven."
• Scared to Death (Save the lost Knight from joining the ranks of the dead in the haunted manor!)
  According to the description, the guy you're saving sounds like a chicken. Could he act like one? :P Your chicken-hearted buddy dies.
• White Collar Captives (Free the captured Knights from a fiendish corporate prison!)
  Well, there isn't much I can change here. Maybe have some sorta paperwork monster (made from the captured knights' paperwork which they had filled out.) that would chase you through the level? Really, this one feels pretty good on the whole. Like the last one, if your buddy dies. Maybe you wouldn't fail if just one dies. I'm not sure.

Failing wouldn't count as completing the mission, so you could try it again. It's really late here...aug...I'll come back and clean this up tomorrow.