From a gauge-theory point of view you can make the following observation:
Take for example a photon, which has two polarizations. Naively, you would like to use some field with two degrees of freedom to describe such a photon. However, such a description is not "manifestly Lorentz covariant", because there is no representation in which fits your two degrees of freedom. The smallest representation is the vector representation, having four dof's. Gauge invariance however now cuts these four dof's down to two, which is exactly what you need.
In that sense, you could say that gauge invariance helps you to describe photons in a "manifest Lorentz-covariant way".
The subtle point is that field equations can more or less always be rewritten in "manifestly X-covariant way", where X is some symmetry group, by using the so-called Stückelberg trick. This amounts to introducing extra fields to realize the symmetry.