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I didn't feel a need to grind but you should definitely do all quests to make sure you are still aptly leveled up.
You will also tend to try to play some levels to unlock stuff anyway
On hard, you may have to grind. I dont know.
The game rubber bands the levels of your characters, so you dont have to worry about less-used characters ending up low level.
Grind to 100% the game and satisfy your gotta-catch-'em-all instincts? Medium.
You are never required to grind, but you may do it if you want to compelte certains quests early, or just expand your arsenal. But it is never any sort of "insane" grind from other games.