Yes.

As a WAR, at a minimum you'll want Convalescence, Provoke and Flash from Gladiator and Featherfoot and Internal Release (and possibly Second Wind) from Pugilist. Convalescence and Featherfoot are big survivability buffs, Internal Release is a big Critical Buff. Provoke will get you back to the top of the hate table after a raise. Flash is useful at raising AoE enmity on Slept mobs. Haymaker and Mantra and Awareness are OK but nothing to rave about... of the three I'd probably pick Awareness since it can help to normalise incoming damage sometimes, but very few if any of the mega-dangerous enemy attacks crit. Don't ever bother with Savage Blade.

Likewise, for a PLD you'll definitely want Foresight and Bloodbath from Marauder. Mercy Stroke and Fracture are alright, but I'd not rave too much about them. Mercy Stroke is rather situational: as a damage-dealing ability the cooldown is far too long to make any difference, but it CAN add some HP if you're fighting a lot of weaker foes... however it's very tricky to time it right in groups and Bloodbath generally gets better performance. Fracture is a bit lackluster on a PLD due to it not getting the corresponding trait. Don't ever bother with Skull Sunder. I've found all the CNJ spells all to be worth taking also, Stoneskin, Protect, Cure and Raise all have situational uses (I never keep Raise slotted but I might swap it in temporarilly if someone needs one). In parties you'll generally find your healer handles protect, but having your own copy of Stoneskin as a PLD can be very handy - especially if you've a SCH with you instead of a WHM, or if you're tanking without dedicated support. I've lost count of the number of times I've been able to outlast a tougher enemy like a Fate Boss whilst levelling up thanks to Stoneskin and Cure!

TL;DR -
WAR: Convalescence, Featherfoot, Internal Release, Provoke, Flash (possibly swapping Second Wind or Awareness for Provoke/Flash depending on situation)
PLD: Foresight, Bloodbath, Stoneskin (and pick two out of Cure/Fracture/Mercy Stroke/Protect/etc. depending on situation and personal preference)