If you're talking the finale of chapter 1, I'd take Linu. She fights well, heals, and is strong against undead. In chapter 2, you will have access to all the henchmen. I've come to the conclusion that using several different henchmen in different areas works well. Use Linu or a combat one for a heavy combat area, then get Tomi to go open any chests that you couldn't open.
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