Issuing commands to allies would be useful, but that in itself isn't particularly unique to FF7R. So I guess if KH wanted to do it, they would have already?
That should still be an improvement though. Time Freeze during menu selection might be as well.
Casting spells hardly takes time in KH, and it would only be a matter of setting your allies to not use mana on their own to not run out of it.
My (locked) thread about how difficulty should be a decision for the developers, not the gamers.