They had a terrific opportunity to do this with dungeons when they introduced trusts (later renamed Duty Support). Sadly, they felt the best solution was not to make versions of dungeons that their NPC AI could handle and leave the original or more interestingly designed versions for human players, but instead to just hammer everything into a one size fits all shape.
Their goal wasn't to improve the game as a multiplayer experience but to just make sure you could play it alone to the DETRIMENT of its own design.
Also you can't bring 1 or 2 trust allies to a group you have with a friend or make nonstandard parties with trusts because the devs ironically do not trust players.
Pretty sure the only time NPCs mess up is if they're scripted to do so in a trial, if they get hit on trash it's because you pulled the enemies in a funny way that caused their AoEs to overlap in a funny way that they couldn't avoid them. They only dodge the first thing thrown at them; if they're already dodging and the spot they commit to dodging to is targeted after, they'll just stay in it and take the hit because they're still in their first 'dodge the attack' procedure, which also interrupts all damage and healing they do until like 3 seconds pass.
Also, Alphi gets stuck spamming Eukrasian Prognosis if he's on an incline or some of the party is out of range of it, without making any effort to reposition himself. It's a very bare minimum effort at AI that all our future dungeons and many Trial designs now must suffer for...
