At MUC, intermittently at FRA, ZRH, you can be landed directly into the non-Schengen departure area. If you're making a non-Schengen connection, you just walk to the gate, no passports, no security. If you're connecting into Schengen, you just do passports. It's the most efficient it could be.
BRU could do the same by landing ex-UK flights into the Departures area of B (let people walk *up* the ramp to the gate area). If you need to go to the A pier, just go through passports. I don't think it compromises any security or immigration controls at all?