Just one question - how is dying and losing a fight for good a better experience? xD
I think that the whole "problem" we discuss here will be partially solved by the game difficulties in the future. If you want a good 'experience' you can adjust the difficulty to feat your needs, if you want to 'struggle and overcome' then by all means - keep your party members on the brink of death and win against the overwhelming odds! Am I wrong on this one?