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Complete chapters and quests however you want
There is no "right way" to play this game. What's most important in the beginning is to at least have a full party of 4 characters. After that, feel to acquire every character by doing their Chapter 1 quest or move the story along for your current party. This isn't a linear game, you are free to fit the gameplay according to your play style so experiment or go with the flow. The choice is yours.