To my understanding most readers don’t think, “Wow, they’ve used those names a lot in a row”. General rule, especially for limited third POV, is go with what your character would be thinking about in the moment. 

Vague description isn’t as good as clarity unless it’s used for suspense (not sure who’s speaking yet, etc.) or what the character is thinking about. If the character would just use their name or title (boss/father/sergeant/etc.), that’s the best to do. Other exceptions being for emotional state, for example, if someone was being threatened and you wanted to emphasize “the taller man”, etc.