I've honestly not found things as dire as some of you posting in this thread. I won't say that every group I've joined have been tactical geniuses, but I have had a lot of fun grouping with random people. I usually put out a simple request--"Who's interested in going questing?"--and people respond.
If I don't feel like trying to gather a group, or I want to take it slow and explore, I'll use henchmen, but I honestly can't say I've had a truly bad experience with random parties.
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