Yeah, I'm going total completionist asshole with Xenoblade Chronicles, too, so I feel ya.
First things first, leaving Shulk as your party leader is really doing a disservice to the other characters you'll be running into soon. Needless to say, just past where you are now, I'm having more fun putting Shulk on the bench.
As far as grinding out hearts, yeah, you will probably have to do that. There are 63 Heart-to-Hearts in the game, 3 for relationship (3 for Shulk and Rein, 3 for Shulk and Sharla, 3 for Shulk and Dunban, etc.). Outside of gifting collectibles (which don't forget you can do), the only really way to boost those relationships is being the party member and doing the affinity bursts in battle.
There are some ways to exploit the system though. You get 2 hearts whenever you wake a member from sleep during battle and there are monsters much later in the game that will sleep your characters with each hit... basically just hang out beside the character and spam the "Wake Up" button.
I'm totally prepared to do that should side questing, gifting, and swapping out party members don't get me to max affinity with each character.
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