I had this same dilemma for years! Last month I finally decided to just screw it and play FES, I've been really happy with that choice.
However!
A few weeks ago, a group of Persona modders released this: a tweak to P3F that enabled controllable party members!
https://www.youtube.com/watch?v=rS_YQ7wPhvY
I play on a softmodded PS2 so I had to figure out how to get the "cheat" file linked in the description applied to my ISO of the game, which was a huge hassle, so I went ahead and made a shortcut for anyone else that wants to do it:
https://cdn.discordapp.com/attachments/143149937247387649/413763332521197568/p3f_ppp.xdelta
That link is an xdelta file which you can apply to your own ISO of the game -- I can walk you through it if you need help. But once you apply that patch there's nothing else you need to do, it simply lets you control everyone in your party. I've been playing with the patch for the last 25% of the game (since in-game October) and haven't encountered any glitches or bugs. It's the best
If you plan on playing via some method that would allow you to use your own ISO of the game (emulation or softmodded PS2), it's absolutely the best way to play the game
Edit: Please note that I own several copies of this game and am not discussing piracy -- I've dumped my own ISOs and PS2 BIOS and everything