Anyone here familiar with Tales of Destiny DC?

So I was dusting off the game as I hadn't played it in a couple of months as while it works fine for me, I forgot how the battle system works because I cannot find the button to switch to my teammates as I was doing some grinding in the snowy village early on, but I don't know if the game uses healing beds.

Secondly, I know I talk a lot about Tales of games here, but I have to ask just how this franchise was able to get so big as there are so many games from Tales of Xillia to Tales of Berseria for instance that I was wondering how Bamco was able to pump out so many different installments overall that I was hoping someone could explain it to me as the number of games on the franchise is huge.

But yeah, if anyone could refresh my memory on the PS2 games work would help as despite the random battles, I am really enjoying Tales of Destiny as the game feels nice in ways that are hard to explain.