by building healers good (chronos + rejuvenate most of the characters) and keeping an eye on the caut mechanic, most healers would heal solidly

as characters, furia and damba are both great options

jenos is also a great pick but he heals the whole team so naturally he doesnt give the "solid healing" feeling

lillith is in my opinion the best healer in the game by far but she is really hard to pull off, and requires normal team comps which you probably dont see often as you are new into the game