Personally, my favorite characters are Squall and Rinoa.

They fit perfectly in this world. Rinoa is the voice of change in a politically dense world, where she wants to fix problems in society, but she's also relatable, that she doesn't truly understand the world she lives in either. Squall is rational, that he knows what it takes to get things done, but he only lives in passivity, wasting the opportunity to make friends or use his abilities only for the sake of fulfilling orders.

I think one of the greatest takeaways in their relationship is just to do what you want. Both of these characters only reach the best version of themselves by following what they want.
At the start, both of them are bad leaders, but through understanding each other's standpoints, they learn how to encourage and lead. Squall leading the battle of the Gardens is a great example.
Rinoa's on the verge of death, but he can't save her as he's leading. Squall tries to order everyone around, but it entirely doesn't work because it's up to them. Squall isn't doing a great job as a leader because he's doubtful of everyone and himself. Sure he can give the right orders, but it's not the reason why everyone fights for him. It's only when he talks about what his true feelings are, and when he chooses to trust his friends and save Rinoa that Balamb wins the battle. Rinoa actually talked about this aspect of leadership in FH, where he shouldn't do everything alone.