Not possible without extremely complex event branching or custom plugins. If you're not already a truly expert user of RPG Maker, don't attempt it.
However, you can have a single animation (like swinging the sword slightly up) use movement in Yanfly's Action Sequences to move the user to a position where it looks like they are aiming at their target. For example, if the animation is swinging the sword slightly up, then you'd want to move "Henchman" to a spot slightly below (and to the left of) the target he is aiming at, and then take the swing. Yanfly's Action Sequences allows you to do that.
Hmm.... So I can use my quick ports of QPlugins, but QMovement breaks MZ's save system. Or I can use the Luna port of the QPlugins whose QMap breaks MZ's save system. I can't decide I want to fix one of those, or just make a new save system. The new one would look so much better.. I'm kind of tempted.
I just booked a spot for my COVID vaccine today. I am just waiting to see when they can get me in. I'll be so happy when I don't have to be paranoid about the virus anymore. I'm also thinking about moving to Atlanta, Georgia, Denver, Colorado, or Houston, Texas in the far future. Maybe once my channel gets off the ground.