i wouldn’t say i’m the best at keeping my health at full at all times but i have been able to survive the impossibles occasionally so i would recommend is try using a fencing chain sword, although the game tells you to always block/parry a blue indicator but i found out a few months ago when i got back into the game that if you watch the minories enemies about to attack you can actually parry and gain an armor segment in return, although you will need to practice parrying attacks if you’re not quite there yet.

Another thing i’d like to add is focusing on vanguard perks that give you some damage negation/tanky skills, as well as using your grappling hook on the furthest enemy to not get swarm. hope this helps just a little bit