I don't think having one character of each for most of the time would be be an optimal balance. I have half of my paradigms just devoted to combinations of COM and RAV as it is.

Having six characters in a battle would be interesting, sure, but it would also be insane to try to keep track of on any level. It's already a complaint I've seen from a few people that the battles are too hectic.
I was going with the approach that it is already to hectic to keep track of what is going on at the micro level, why not screw it entirely and go all macro?