Cheers. So it’s as I thought, you look for quest prompts and then check how many slots are available. I thought there might be some hidden even more streamlined option available for automatically joining with people in your party, hence why I asked.
I’m liberally consulting this guide every time I switch a weapon or want to upgrade it - https://www.youtube.com/watch?v=bY-KpJRTwTQ
Check it out, maybe you’ll get some ideas. But I do understand exactly what you mean - monsters have a ton of hit points and our weapons in the beginning are rather weak.