Enemies don't respawn in this game, there are no random encounters.
When this situation occurs: "I want to use this secondary party member, but he has fallen behind in levels and now I must stop what I was doing and spend some time to catch him up before I can continue onwards."
You say "Awesome!"
Other people, however, say "Damn it!"
You are right that it is not realistic for guys sitting in the HoH to be getting experience. While that's true, fun should generally trump realism when they come into conflict.