Man, this thread's already got some amazing shouts, but I think a lot of folks skip right over how 'Aching God' by Mike Shel handles this. It's technically in a LitRPG-ish space, but the orcs there, the so-called Skoggs, are straight-up not mindless. They've got a whole warrior-merchant caste thing going on, they hold grudges, they trade, and they have this incredibly nuanced relationship with humans that's built on cycles of violence and stolen land. It's not just 'orcs are people too,' it's 'orcs are a culture with a history of being screwed over, and now they're reacting.' The goblins are more mysterious, almost fae-like in their alien thinking, but they have rigid social structures based on scavenging and territorial magic. Shel makes you feel the weight of their entire civilization pressing down on the tomb-raiding protagonists.
On a weirder note, I always recommend 'The Grey Bastards' by Jonathan French if you want your orcs, called 'thicks' here, to be the protagonists. They're a biker-gang-style brotherhood living in a wasteland, full of their own brutal codes, political infighting, and messed-up family dynamics. Their society is built on survival, pure and simple, and it's gloriously grimy and complex. It's less about portraying a noble society and more about showing how a harsh, monstrous-looking people build structures to endure a harsh world. Makes you root for them even when they're being absolute bastards.