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Outside of Auto Battle, (which also removes control of MC) there is no way to relinquish control of non-Guest party members. If you want it, find or make a mod that does so.
It never fails that people bring up Persona 3 as an example of why party ai doesn't work. Persona 3. A game that came out in 2006. That was 18 years ago. I myself beat the original upside down and sideways and never had a problem (because the game difficulty was actually tailored to your party not always making the smartest decisions) but I will admit the party ai was lacking in that game... but there are other Persona games. Persona 4's party ai was much better and Persona 5's party ai was downright good.
In my testing they haven't made any particularly bad decisions but it's definitely a preference.
More than a bit annoying but if you double tap the auto battle function you get the same result (that way you don't accidently auto-battle with the MC) however the big limitation is that you can only have one tactic for the whole party rather than per person.
as others said its a bad idea, but go nuts.
Not avoided. This only controls the tactics auto-battle function I mentioned which is a toggle able mode that is either off or on for your whole party. You have to double toggle it if you want to maintain control.
This only allows you to set auto battle tactics which makes the entire party auto-battle, (MC included). Ideally this would be a setting per character to allow fine tuning of tactics (like Persona)
In my testing on hard difficulty, the party AI does fine except for some very specific boss mechanics where they tend to defend when they don't have to (For example some bosses target a row, so as long as you move out of that row you can attack freely, the party will defend). Other than that, they will exploit, pass turns, and will even try to avoid overkill.
It's better to know what attacks the party will use so that you can synergize than be at the mercy of an AI.