In Elderine they ask for Endure, and no, Endure does not require the cleric to join their party. Rest is beautifully explained by Ivra
For party buff, they increase dmg, m.dmg, def and m.def, as said above. But they cant "give it" to you, they probably wont be following you around to fight monsters. They usually only ask for it when the cleric is in the party.
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