I agree. I had posted something similar on Steam. It is a video game and all, but so unrealistic. I had started a fight, discovered that 1 member was stuck on the other side of the map. I was able to have that character do all sorts of things before joining combat while everyone else remained frozen in time. Made no sense.
The only way to reconcile is to think of it as you can only control 1 group at a time. So in real life, you might maneuver Gale into a fight from the south while Lae'zel from the east and your main from the north and Wyll from the northeast. In real life, they all move at the same time. Since you can only control 1 in real time, you might have to move Lae'zel, get her into the fight, then your main, then Wyll, then Gale, all in real time 1 after another. Doing this in Turn-based would be real slow and clunky.
So if you are a realist, don't abuse. If not, yeah, you can totally abuse it. Its up to the player.
