Action rpgs with several characters in battle at the same time is something that I've given a lot of thought over the years working with design, and I still don't like it. The strength of turn based or command based party control rpgs, is that you get to micromanage all your characters movements down to a T making the entire party an extension of the players will.
Problem with action rpgs is that this just isn't possible, with too much happening, forcing you to rely on AI. The problem with that isthat either the AI is too poorly optimized and every battle is an exercise in baby-sitting your team members, or the AI is well optimized and self-sufficient at which point your party members are redundant. They don't add to the gameplay, because there's no need to interact with them.
That's why I hold that the best action games will always be single character control games without a party, and where games have parties, such as most rpgs, will always be best when they're heavy on the command or turn elements.
I've yet to truly enjoy or be impressed by a hybrid and I hold that this trend of action rpgs we've seen the last decade or so is really unfortunate as it's only really produced half-assed gameplay that largely only appeals to this bland middle ground gamers that can't appreciate solid, fully fledged action systems (like ib say the Devil May Cry franchise) or fine tuned intricate strategy based gameplay like you find in FFX or FFT.
That's just my opinion though. I'd really prefer if devs would jusy go all in and double down on one side of the fence rather than trying so hard to merry two almost diametrically opposed gamer demographics with poorly optimized bastard systems like Type-0 or FFXV.
EDIT :
To sort of sum up my point : in command based systems with a party the gameplay is about exercising control through your party, whislt in action based party games the gameplay is about mitigating your lack of control. Personally, I find the latter frustrating and dumb, but I recognize that many people might enjoy that and not be as fanatic about control as me.