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In FFXI we had something similar called Adventuring Fellows. They could be out while you seek a party and were not in a party with you but by your side. It you joined a party it did assume a spot in the party but once someone entered the last spot it auto dismissed. I don't see why they could not do something more like this?
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They have said we will eventually be able to use chocobos in dungeons. I think that is how they are meant to be leveled. They would get alot of xp in a dungeon. Right now using them in the open world is painfully slow.