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I'd say your team could be better. There's an awful lot of specialized familiars that really rock (sometimes have to be leveled up all the way)
I'd say stick a Catasterose on Oliver and then you'll really be OP.
I'm a huge fan of level 99 Bone Baron too it's stats get craazy. Also, you might want to get one of those obelisk familiars for Swaine and one of those OP trees for Esther. Most of what the AI does best is tanking and having a dedicated tank on each of them is important.
Sure you can beat the game with sub-optimum familiars but if you really want to stomp the game into the ground you can do better.
Also, if you get a Naja and level up it all the way it becomes a ridiculous attacker. Level that with a Bone Baron and you really can't go wrong.
By this time your catasteros will be level 30 or whatever for maximum destruction. It's the only familiar Oliver needs.