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Manual would give you more "controls" and challenge since you need to run up to the enemies yourself in order to attack. Meanwhile, Semi-Auto automatically adjust your position towards the enemies by pressing the arte buttons only.
Use manual to have full control over where your attacks land.
Auto is if you want to sit back and eat popcorn while you watch the AI fight all of the battles for you.
I personally use semi auto in most Tales games, but I think I used manual in Berseria for a while depending on which character I was playing as.
There are advantages to Manual, though, because it lets you aim at a different nearby enemy without having to actual re-target which enemy you're character is focusing on (which can be useful if you start to get surrounded). Fortunately you can swap between them at any point, so there's no harm in experimenting to see which one feels better for you.
But, you can also just use Manual mode as well. It basically depends on your arte setup