FF10: Yuna. The dedicated healer and summoner of FF10. Unlike prior FF games, here her summons are not a different flavor of a one off spell attack, but instead are playable units that come onto the battlefield with an HP bar and such. While an Aeon is summoned, the other two party members fall back, allowing the Aeon to effectively tank incoming damage for the party. Yuna can also summon Aeons of different elements against whatever matchup is favorable.
FF14: Urianger and Estinien. Urianger is a unique male healer, being muscular and in his 30s while also having a nonstandard healer job of Astrologian, where he has a lot of star magics instead of traditional holy angel themed magicks. Estinien is your cool high flying dragoon comrade. Good English dub voices.
Suikoden 3: Futch returns as a grown man, with his dragon Bright having grown into a big dragon that Futch can ride during battle. Futch has also inherited Humphrey's sword. It just feels so satisfying if you have played the first two games and the Suikogaidens.
Trails in the Sky: Olivier and Zin. Unlike the rest of the cast, they have no hangups. They are just your solid, reliable friends, and very lively too. Unfortunately, in the original game, their crafts are rather useless, so you are incentivized to only use Olivier as a mage, and Zin you are just incentivized to not use at all. The remake uses the Kuro arc's combat system and balance, so crafts are a lot better, so Zin is a lot better to pilot now (though for Olivier you are still incentivized to only have him stand in the back and cast arts). Olivier is the only Trails party member who gets married and has children. Zin gets a cool outfit in the Kuro games, and becomes a good leader to the Bracer guild branch in Edith.
Trails of Cold Steel: I quite liked Jusis and Gaius. Both were your reliable bros.
Jusis Albarea is a noble and is a supporter character, who can cast crafts to buff the party's speed and damage, and also cast Platinum Shield to give the other party members a 1x shield that will negate any incoming attack. Very useful to keep people from being one shotted on higher difficulties if for some reason they didn't evade an attack. When people are buffed up and have shields up, Jusis can then begin casting, and can be made into an extremely potent arts damage dealer.
Gaius Worzel is a spearman from your neighboring not-Mongolia. As a spear wielder, he has elongated reach, which makes him more synergestic as a counterattack evasion tank. Trails has a weird setup where if you evade, you will automatically counterattack, but this system favors characters with the longest reach... which means that counterintuitively, fragile people who wield guns are actually the best "tanks" mechanically because they can shoot back at almost any enemy at any distance. You are strongly discouraged from using most martialists as your tank because they have short reach and will often not be able to counterattack even if they evade. Gaius can also be built as a very strong damage dealer, using a combination of the Chevalier master quartz which causes him to do more damage the less max HP he has, and his wild rage craft which consumes HP to give him CP to spam on his S-crafts.
Rufus Albarea: a villain turned hero. He is an elegant swordsman, and can also fill a supporter role like his younger brother Jusis. Rufus has a craft that allows him to stab the enemy AND heal the party based off damage dealt AND fuel the party's CP intake, in just one action. With this one craft, you can have Rufus fill the healer slot while appearing as a martialist (so you don't have to put up with needing a traditional healer looking character who wields a staff or casts arts), and his CP generation means your other martialists can keep spamming their hardest hitting crafts. He is also a little mischievous and fun. Also pilots a cool golden Helmord. Now he's poor with not a cent to his name after the CID confiscated all of his assets, but still acts like a prince.
Shizuna: not much to right about mechanically since she's just a strong damage dealer, but she is very likeable. Very upbeat and energetic.
Granblue Fantasy Relink: Vaseraga. Huge broad shouldered dark knight who wields a scythe, and is voiced by Fumihiko Tachiki aka Kenpachi from Bleach. He has an XXYY charged quadruple scythe swing attack which feels AWESOME when you are BIS geared and hit the true final boss Lucilius with it. You can very visibly see the HP bar get chunked four times. And for any other boss in the game, it just feels great to four shot them in that one combo. Cool backstory about him having been a boisterous party leader who led his party into a cave where he got poisoned by a monster and the rest of the party died carrying him out. Now he has become just a humble soldier and advisor to the captain.
Granblue Fantasy: Percival, the younger prince of Wales, now appointed by the crown prince as a duke of a territory to fix it up. I like how he is very passionate and fierce. He is a little uncouth, but still clever and smart, and very loyal.
I have not found any WRPG party members to be particularly likeable, except for Ludin and Iver from The Banner Saga. Ludin was a hotshot prince but skilled enough to back his claims up, and Iver is unusual for RPGs in being an old guy protagonist. He wants to do whatever he can to make sure that his adoptive children will live and prosper. I also liked how in the third game, he gets grouped up with a band of cold blooded killers, and there is a segment where a rapist is mouthing off to Iver his deeds and, but Iver just stoicly keeps his mouth shut for now for the sake of the greater mission.