As of version 1.xx, party members are not supported (they may visually exist, but the engine ignores followers for any ABS interaction).
However, I designed much of the framework with teams in mind (including party members acting as allies), akin to what is depicted in the video you've provided. I have it on my list of things to accomplish for 2.xx: completed battler AI, team functionality, ally/follower battler support, etc., among other things.
As far as timing is concerned, I'm hoping to have that functionality working to some extent and released by the end of the month, but... I haven't started work on it actively yet, so I'm not 100% sure.
Maybe I'll spin up a board for folks to view so they can see feature progress & what is already implemented vs what is coming down the pipeline...