Yes later on you can bring people along with you on the fights. As an added bonus the people in your party show up in the cut scenes! Not being locked out of doing a mission because you are a misanthropic hermit is nice. But i would really like to see the difficulty of fights scale with the number of people you bring along for those of us who like to share the adventure with others.
But on topic, Would be nice to have a better flow between missions and quest lines. as it is now, i almost felt like i needed a "Last time in eorzea" refresher to remind me of who was who and what was what while progressing to the current stopping point.