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I'm not sure that I'd call either >great<... but then, I'm not sure that I've ever seen a party-based action-RPG with combat that I'd call >great<. There's a bit of tension, I feel, between the desire for flowing action and the desire for party control.

ys 8 and 9 (and probably some others but those are the two i've played) have really good real time combat *and* they're balanced in a way that prevents party member ai from being able to sabotage you too much, which is usually the biggest issue

If you're looking at turn based to real time, @owlcatgames.bsky.social made some really good Pathfinder CRPGs. I think Rogue Trader is also be of similar feel, but I haven't played that one. They let you choose between turn based combat or real time, even letting you switch in the middle of battle.

This was my first thought but its such a polarized combat system.

Mass Effect and FF7R let you pause the game to make party members perform special attacks.