This is my experience with jump in a lot of situations. I move to the cliff, I jump with one character. Then I try to jump with my second character, but there is no room. So, I move the character that has already jumped away, so there is space. Then my third character needs to jump, but again, the other two characters are in the way, so I move them and the third character jumps. The same thing for the forth....
Now if I just told my party to jump up the cliff and they just jumped, that would be much nicer.
