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A balanced party with a tank, support, and two DPS can handle basically any encounter in the game. Otherwise, you may need to customize your party to specific encounters depending on the enemies weaknesses.
Your tank should have high armor, HP regen, elemental resistance, as well as a good way to draw aggro. Kane can be well suited for this role; heavy armor will limit his mobility thus using Dash, Taunt, and Command Aura is key to keeping your party safe. Enchanting his items with Thorns and Obsidian Crust/shield is also a nice way to boots his damage output. Rakhem and Boron can also function as a tanks but they have less options to keep your party safe.
Your support's main role is to provide healing and buffs. Aeric is definitely the best choice with access to healing totem and revival along with great summons like Ents to meat shield.
It is recommended to have two DPS, one focusing on physical damage and the other on elemental damage. Keala is by far the most overpowered hero with high damaging guns buffed with rapid fire, strong CC like lightning rod, and high damaging summons like mechs and titan but Maeve potentially has higher DPS with full mastery and skill power build around headshot. Whisper is probably the best DPS for elemental damage with more options than Aeric. Focus on boosting skill power and cool down reduction for her AOE spells like suffocate dome, meteor, and blizzard.