I have now beaten the main story. I am at 70 hours now.
I still have a shitload of side quests to pursue and have done only 1/10 of affinity quests which are basically story quests of individual characters. There are 16 characters you can recruit, so there are 16 arcs of affinity quests. Each character has about 2 or 3 affinity quests. I have done only few of them so far since they take quite a bit of time.
I beat the main story in order to access a certain character named "Mia". She becomes available at Chapter 11 (12 is the end) and I chose to finish it since I got caught up in heat of its plot. I had to finish it...
Anyway, I still a fair amount of things to do. I still can't beat half of monsters in the wilderness. There are level 99 monsters. At the moment, I am able to take on only level 55 elites. It will require a fair amount of grinding to get it done.
I also want to swap out companions. Lin and Elma aren't my favorites but I had to hang out with them since they are story characters. H.B. is my favorite guy though. Now that the main story is over, I have no reason to hang out with them but I will need to train two other characters.