The thing that made me think of Megaman X Command Mission and Gundam put together most was a game called MS Saga A New Dawn. They had similar combat styles. Though MS Saga was more of a Final Fantasy-ish game
And while the designs aren't a dead ringer to them, a lot of X's armors are similar to the "hero" Gundams. The Giga Armor from X2 and the Hyper Armor from X3 have a red, blue, and white color scheme with green gems and yellow trim. A lot like the RX-78-2 Gundam and Shining Gundam, and the rest of the hero gundams.
Well, i use the term "hero" as an umbrella term for any of the Gundams used mainly by the protagonists throughout the various series. They have similar design and color scheme. So RX-78-2 Gundam for the Classic Gundam Series, Zeta Gundam from Zeta Gundam, Shining Gundam and Burning Gundam from Mobile Fighter, etc. are all "hero" gundams.