Well thanks to the new licence system they have every party member uses cure. When you get further into the game and get more gambits and such it becomes a LOT more easy to use. I find myself at times not even doing a thing but a phinox down every now and then.
Here's what I use My casters/ranged
Heal 60% any ally
attack party targets leader
attack foe targeting leader
curea any ally under 40%
This is what I use only, I have more gambits but I do not turn them on until I run into a certain boss. Like I have a silence gambit and so forth.
My fighters I use Vaan and Penelo as my leaders all the time so for them
Attack party leaders target,
Cure any ally under 60%
Attack foe targeting leader
For the other two it's about the same just more variations on attacks
The best tip I can give you is to make sure you have a potion, or HI Potion gambit set up at all times. But do not turn them on until you run into a boss who is destroying your party. Once you have a ton of gambits turn them off while your just moving around the world and not really enaging in heated battles. I have about 20 now with my figters and I only use about 4-5 gambits at a time.
Also when in your part try the set up of a Fighter, leader, and rang. Try to keep one in at a time, unless the boss is a air or something. Any other questions ask me.