What Parsha ספרים are out there that aren't commentaries on the text per say, but rather Halachic Sugyas based on the Parshios (similar to Minchas Asher by Rav Asher Weiss)? In particular, I am looking for a work that takes one or perhaps several פסוקים from the Parsha and tells over a Sugya learned from that פסוק
There are many works in this genre. Some examples by contemporary authors: חבצלת השרון, which contains 7 volumes on Chumash; משנת חיים, which I believe is 5 volumes; הגיוני הפרשה--the first two volumes, בראשית and שמות are available on hebrewbooks.org; רנת יצחק and גבורת יצחק--multiple editions; אמרי חן, e.g., this; אור אברהם, contains 5 volumes, ברכת כהן, one volume. This is in addition to classic seforim such as פרשת דרכים, and כלי חמדה. R. Yosef Engel's seforim organized on the Torah, תפארת יוסף, of which three volumes are available, contain an abundance of halachah. One could also view מנחת חינוך in this way. (The בן איש חי is a halachah sefer organized by parashah, but I don't think the halachot connect to the parashah.)
Try the What If... series from Artscroll (Volume 1, Volume 2, Volume 3), or the corresponding Veha'arev Na series from Feldheim (Volume 1, Volume 2). Both take Rabbi Zilberstein's Chashukei Chemed (organized by related dapei Gemara) and rearranges them, usually only very loosely based on the parshah.