In my life I’ve seen interesting discussions about which JRPGs have the best protagonists and which ones have the best non-protagonist party members but I don’t think I’ve seen this one.
Since “best” can mean anything subjective let us know what it means in your case! i.e some might choose a party based on the writing+design of the characters, others might focus on their character arcs and themes, or on the overall diversity of the party (full human teens party vs diverse ages or diverse species vs whatever Chrono Cross has going on, etc).
This is an easy one for me, Tales of Berseria. No character gets ignored by the narrative, or peaks in their introductory arc. The characters also build personal relationships with each other that don’t depend on the protagonist, and aren’t just one-offs or side content. I would recommend it to anyone, doubly so if they’re a fan of the “dysfunctional band of misfits” setup.