If you ever got stuck at low health, 3 characters dead, or needed to keep health at the end of a dungeon I found that this helped a lot.

After you save your game on FF Legend and quit, when you load back in you will ALWAYS encounter after 4 steps.

So, by exploiting this you can:

> Save
> Menu
> Select Title
> Load In
> Walk 4 Steps
> Repeat

This also works when on escalators in the last dungeon.

Not a great solution, but it helped A LOT when I just needed to move one floor to get to the next world without wiping.