As someone who has played countless different systems as well as writing rules for my own G Gundam Game. I'd say there are many ideas that could be adpated to a Transformers game. Before you even get that far you'd need to work out what figures your going to use. If your using standard TF's then It will have to be a small detailed game with only a few a side.

In my opinion the best place to start would be with Legends, Minicons or Micromasters. As there all small so you can fit several on a tabletop. You could fit a couple of Deluxes but it would feel confined.

I particurly like the idea of using Micromasters cause you could field them in 4 robot formations.