The fact that the game heals you at the end of every battle is a double-edged sword for me. It surely increases the QoL, but diminishes the utility of items and cuts off the preparation and resource management part of the game. I think Chained Echoes is fine as it is, because I consider it a sort of "lite" RPG (no experience, no level, autohealing...), so it doesn't need a resource management part. The Ultra move autofill before a boss fight is 100% good, so you don't need to farm that beforehand, I agree.
The game has taken heavy inspiration from Chrono Cross in this regard. That game "sort of" auto heals you as well after fights; the main difference is that items in CC have to be equipped like spells if you want to use them in battle, so If you want to use more items, you'll have to give up spells and the other way around. Items are multiuse but generally weaker while spells are mono use (once per battle) but stronger. CC also uses the same levelling system as CH: you level up when you complete certain story fight, eliminating the need for EXP grinding since you'll always have the right stats for the job. In CC you can farm for money and materials that are used to craft equipments and buy spells.