I do envy you The only time I did that, I shelved the book because for the life of me I couldn't hear any voices, or themes or ideas. Just plot plot plot. And yet some of my very. very favourite writers work the same way as you do - and manage to voice and character and theme and engrossing and nuanced plot (and much more efficiently that I ever will.)
The first time I outlined, I had the "plot plot plot" issue. I finally figured out a process that works for me. I go through each major character (and some important secondary character) and work out their individual character progressions, working out where I want them to start and end and then filling in the in between so it feels natural, then I look at all of the outlines together and plot out scenes for each, weaving them together. Then I shuffle everything around to try and keep the pacing right.
I think finding the characters voice and making sure the theme is there is the same for both pantsing and plotting, it just happens at different time. I do all the same thing that pantsers do, exploring the characters and their journey, but I do it in the outline phase and not the writing (heck, I know someone who finds most of that in the edit and second draft, and their first draft is usually incredibly dry)