Glad you enjoyed the game! ^^
Now, it's possible to do that fight without grinding, but it might require some knowledge about how the characters are being prepared for that fight. With that said, I recognize that a "first-timer" might face trouble dealing with that fight. But I didn't intended Lucius to be a breeze. As for the healing, well, I thought it didn't made him recover a lot of HP. Or was the AI straight up just spamming this ability for you? ^^;
Glad you had fun! (Also, the choice of names was... "clean". ^^)