Honestly there are so many great practices that fall under the term "regenerative agriculture". Not all of them are fully scalable (like food forests) but they can work at a range of scales and all increase biodiversity and land health, reduce input costs and lead to better food

Theres plenty of intercropping practices that could be adopted (doing an undergrad thesis on one)

As far as ones meant for automation, look into row intercropping (especially with trees), silvopasture, Cover cropping, or intercropping methods where the main cash crop and beneficial secondary plants are at different heights (like sunflowers with clover understory)