I've played with my trusts a lot, I have some to lvl 80.

Ryne just from the eye test is the best DPS. I think Urianger is more dedicated to healing. I did big pulls and Thancred never died with Urianger, but he did a few times with Alphinaud in fewer dungeon runs. The only one that I've seen raise someone during a fight is Urianger. All of them can raise someone after a fight is over, even the non-casters.