The closest ability I know of like that is Immolation which doesnt interupt orders and ignores Art - Animation - Cast Backswing and Art - Animation - Cast Point, but its toggleable. The second option if one wants to consider those would basically be any Item scroll ability since they usually dont interupt orders and dont have any requirements to cast.
EDIT: I havnt dabbled a lot with those kind of abilites since I have always desired the animations but I would imagine something like defend working the same way as immolation. If one looks for the order defend or undefend it could trigger the same thing, just that undefend would trigger at unit death as well. It may be the same for unimmolation? If thats even a thing.