Sadly it might just be a case of you needing to grind a bit. Companion AI is unreliable at best and aside from having a familiar that is effective against an enemy fights largely come down to attacking away and killing stuff purely because you have leveled enough, rather than any sort of mastery over the systems in place.
Past few boss fights (about 30 hours in) i've just been ignoring Drippy's advice and instead using mite for warcry then swapping to purrloiner and spamming attack till healing is needed. (well, it is their second forms but I can't remember the names off hand). It tended to do a lot more damage than what Drippy said to do anyway.
The randomised on acquire stat growth along with the rarity of tameable pets + dual sign ones for that matter make it near impossible to come up with any concrete party compositions.
Also, bear in mind everyone has restrictions on familiars. Oliver uses Milites, Vermes and Dracones. Esther Aquatic, Aves and Flora, etc.
Using a familiar they specialise in grants a 10% bonus to it's abilities, so there is no reason to use ones outside of those genuses.
I enjoy the game, but the combat system is rather shallow and lacking in strategy. So the best I can suggest is make sure you have the right familiar types equipped to people and that they have good stat growth along with covering all the signs and elements that you can. And if all that fails, you might have to resort to side questing and grinding i'm afraid.
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