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They can attack anyone in attack range, though. Engaging just means they won't move away from the character they are engaged with.
Hold the line allows you to engage one more enemy at the same time (to a total of 3 I think? or 4?)
So things like Hold the line and the defensive aura thingy that gives +engagement are pretty good for a tanky character.
Whenever your melee guys attack enemies, they'll engage their target and 1-2 nearby enemies (symbolised by the lines between characters).
The AI will usually not break engagement, so it's a great way of keeping enemies away from your casters.
Also, your party's AI will try to avoid breaking engagment as well - so if you're running away and the enemy catches up to you, you'll stop and fight them by default (unless uou specifically order the party member to break engagement and run away again).
This wiki page covers the engagement mechanics pretty well
Also, the AI seems to hold being engaged as a fundamental truth. I have not seen an enemy break engagement. So anything you can do to increase the engagement limit on your tank is a good choice.
In most other cases, if something is engaged and you are like ~2 meters or more away, you seem to be safe.
Also a tip: If something is running towards your back line and one of your tanks is already engaged, don't be afraid to manually click to intercept. The free attack is a minor hit on a tank, and you are far far worse off having something sneak by and start sniping your back line than a tank taking a free hit or two.
Another tip: If you have a back line getting beat on, try and cast defensive spells instead of running. For example rogues have a move that allows them to teleport a short ways with zero engagement hit.