You'll always start out Mara Nara Orin, because Mara has more defense.  But if Mara is already dead, should she lead?

Re-ordering for protection right after getting Orin
	If Mara lives
		M N O => O M N = vvAAA
	If Mara is dead
		M N O => M O N = AvAA



If Mara is not dead when you talk to Orin... (O M N)
Nara leading for deathwarp (traditional)
	deathwarp setup
		O M N => N M O = vvAvAA
	post deathwarp
		N M O => O M N = vvAvAA

Mara (corpse) leading for deathwarp
	deathwarp setup
		O M N => M N O = vAvAA
	post deathwarp
		M N O => O M N = vvAAA


If Mara is dead when you talk to Orin... (M O N)
Nara leading for deathwarp (traditional)
	deathwarp setup
		M O N => N M O = vvAAA
	post deathwarp
		N M O => M O N = vAvAA

Mara (corpse) leading for deathwarp
	deathwarp setup
		M O N => M N O = AvAA
	post deathwarp
		M N O => M O N = AvAA


For Aktemto walk, the formation shouldn't matter, so do the same thing.

Re-ordering for Balzack, though, it's probably worth two frames to put Mara in the middle...
	Nara leading
		N M O => O M N = vvAvAA
	Mara leading
		M N O => O M N = vvAAA
	

What if we want Mara to survive?
	Nara leading
		N M O => O N M = vvAAA
	Mara leading
		M N O => O N M = vvAvAA

Mara in back, Nara in front?
	Nara leading
		N M O => N O M = AvAA
	Mara leading
		M N O => N O M = vvAAA
	Always one down-press faster than Orin leading, but again, not worth Nara more likely getting one-shot turn one
		But what if Mara had the Sphere of Silence...?  Nara spams Heal on Mara, Mara casts Sap, then Sphere...?

In summary, it's always faster to put the corpse in front of the party, and if Mara is in the back for Balzack you lose two frames.




What about chapter two?

A C B => A B C = AvAA
A C B => B A C = vvAAA

A B C => A C B = AvAA
B A C => A C B = vAvAA

In chapter two, it's always better to have Alena lead.






Months Later Update:
 - The above doesn't take into consideration the difference in frames menuing to heal or access inventories
 - In the mine, it may be better to have Orin in front since you might heal him multiple times.
 - I think the real answer is "Don't worry about this".