Please be aware that the imperative use is actually just an abbreviated phrasing and is actually a request rather than an imperative (command). In terms of "feel" it probably strikes English speakers as a mild imperative, especially as the difference between imperative and request in English can often be the presence or absence of "please":
Hand me that book.
Hand me that book, please.
The distinction in the first case can be done by tone of voice, as to whether it is command or request.
Japanese uses different tenses:
お弁当を作って (下さい)。
お弁当を作って (くれる?)
お弁当を作って (もらえる?)
お弁当を作って (頂けますか?)
お弁当を作って (頂戴。)
Etc etc etc
Vs: お弁当を作れ for the imperative form
If using the actual imperative form, please make sure it is someone you are in a position to boss around. The negative reception this form can get is probably why foreign learners are taught that the abbreviated request form functions as an imperative; it's a lot safer (and there is no danger of choosing the wrong verb/form for the abbreviated bit).