The best way to play it IMO is by using 4 characters from start to finish in their main story. Then guve their gear to the other 4 and do theirs from start to finish in a New Game + like scenario.
This is what I did and I found that the travel banter makes much more sense as you progress. You see more of how certain personalities mesh with one another and sometimes the banter between chapters will chain together and make more sense (something you will not see by swapping all the time). And no, I did not have to grind one bit. All four of my original group are 60+ and all I did was side quests, their chapters, and optional dungeons. I even got all four specialized jobs.
To me, this is the most fulfilling way to play the game.
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