I was thinking you meant "another mission that was way better paced, with better flow, and better general gameplay than most of the rest of the game" lol, because that's how I think of Virmire.
But yes, I'd be fairly happy to see that, so long as it makes sense. The problem with Virmire is that the situation was somewhat artificial. I don't want to see them just chuck more "One of these guys dies! You choose!" situations at us. You say that making it so people die if Shepard screws up is bad, but I would equally say that the story arbitrarily deciding that X character must die is just as bad, if not actually worse.
What I do think is that getting everyone through the game alive, and getting the best win conditions should be virtually impossible on a first play-through without a detailed guide in front of you. I was genuinely pissed-off when, on my first play-through of ME2, with no guides, no nothing (I didn't even know who the LIs were! Garrus was sure a shock!), I got every out alive. I was actually hoping I'd lose some people. But it was so bloody obvious how to keep them alive.
Maybe the best situation would be if you had a few places where you could either leave someone to die, or where someone would die, if you wanted the best win condition for that area. For example, you're evacuating the Turian government or what-have-you, and maybe Garrus is sniping and holding back the tide of enemies. You can either get him on board in time, and potentially lose some of the Turian government guys, or you can leave him behind and make a clean take-off.
Bad example probably, but I'd prefer deaths to not be "Either Garrus or Tali MUST DIE!"-type nonsense, and to actually come from, y'know, people trying to be heroic, to do the right thing.