I personally feel like Asbel is worthless. He's a horrible main character. Malik should have been the main character and perhaps the story would have been better if focused on him and his dedication to his hometown.
Malik = Pascal > Cheria = Hubert > Sophie = Richard >>>>>>>Asbel
In terms of how much I liked the characters.
Pretty much this, except Asbel = Sophie >>> Richard for me. Though I've yet to beat the main game and do f arc so maybe it will change in regards to those three. But right now, Richard is hardly even a character IMO.