Why more than six (or eight) at the same time?
I'm all new to this, but if it's simply henchmen that you're after, you can probably (as UA did) add them as friendly units in each battle.
You can also do it like Final Fantasy did: Let the player juggle the characters in the party from the database, and then perhaps use "if character in party"-conditions to require the player to use and train all the party members.
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