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Have u never heard of Cry Baby Strikes ??? It has a +60% ATK multiplier and attacks all places around him. So in CoO4 you can wither kill 1 Jester say with a Tera Spell then place Taro where that Jester was, use CryBabyStrikes to knock off 5 Jesters and get some1 else to knock off the last 2. Alternatively you could always just use 2 turns, get taro to walk up to the jesters and take out 3 with crybabystrikes, end turn and he will become surrounded and will take out most of the jesters with counters, and then use a second crybabystrikes to take out the rest.
Since there's no 3x3 leveling stage like CoO3 in the original, it's less important what area your attack is. If you read the max stats guide it's generally recommended to level two characters at the same time in CoO4 anyway, thought that's mostly for storing levels, the same applies for just getting levels in general.
If you're not storing levels, I'd almost say xp is a non-issue as with proper gear you'll get enough of them in item world anyway.
The alternative is LoC DW 13-1. Sure it has no +100% Exp panels but it does have 2 sets of 9 Verchiel and a Dark Sun that regenerates them every 2 turns. Simply isolate 1 (you can put it to sleep so it doesnt waste time attacking), get Taro to stand in the centre of the other 3x3 formation and have another characters knock off the other set. Sure theres a bit of waiting for the enemies to respawn, and a lil setting up, but its fairly autonomous once you have it working.