I would like a more loyal localization (story quest dialogue)

[LunaHoshino]

The thing you're overlooking is that translation and localization isn't just about the words-- it's about the tone, the sentiments behind those words, and the overall culture that influences all of those things. Japanese culture and Western culture are two very different beasts, which affects how things are phrased in each language. A phrase that is perfectly common and acceptable in English might come off as offensive in the eyes of a Japanese person simply because of cultural differences.

The lines of Lucia's that you gave are a good example of that. In Japanese culture, you would never, ever presume to speak on a superior's behalf or issue a command in front of them the way she does in the English text. It simply isn't done and would be considered overstepping your boundaries as a subordinate as well as an insult towards your superior. However, if you look at the Japanese lines, you realize that she's saying the same thing as she is in English: she's objecting to what was said and implying that it was not what Aymeric meant. She's just doing so in a way that is considered more acceptable to Japanese. A Japanese person would look at that line and likely get exactly the same meaning from it as an English speaker would from looking at the English version.

TL;DR translation is a complicated thing and relies on far more factors than just the text itself.