I honestly don't see why so many people complain about the combat on these boards. Yes, there are problems - with the ally AI, with limited options, etc. - and a system like FFXII's Gambits might have been better. But I still find it to be pretty fun. What a lot of people don't seem to realize is that the decisions you make BEFORE battle regarding equipment, Tricks, etc. have a very large impact within battle, particularly when it comes to the decisions the AI makes.
^ Couldn't agree with you more. Yeah, there are some refinement issues with the system, but a lot of the issues people are having stem from their poor choices during setup.
You might make it manageable, but it still won't be any more intuitive nor will it be fun. Also you don't have a good way to check which familiars are effective in use or not, the interfaces lack important information, it has weird command prompts, unfair cancels, camera angles that cause you to miss out cues for enemy attacks, weird placements when switching familiars and pointlessly hidden menus both in and out battle (tactics to name one). The AI is far from the only thing that makes the combat terrible.
The point is, they could have made it good and functional, but they didn't. The whole command roll is a bad idea when you sometimes need to make quick decisions. It could have mapped button prompts and maybe other AI cues besides all out attack/defence as well. Nothing was stopping these kind of simple design choices, that they've used before in their games too. They just chose not to and half-assed it.