Sounds like a skill issue. Even on my third route, Free Time sometimes runs too short because I'm exploring the map and finding new dungeons, fights, etc as I aim to complete quests and get renown for recruits and stuff. "Menuing for gameplay" is a silly phrase because I've been spending most my free time either in fights, in dungeons, or exploring, all of which is timed just enough to be something you have to still manage with a bit of thought. With the EXP and skill buffs on subsequent routes it's not even that hard to over level and overpower most encounters in the main story. The game lets you do so many things without expecting you to be everywhere all at once but people will look at a buffet table and be like "How can I be expected to eat all that!" when the entire point is to take what you want from it lol.

"CASTOR! Look! I'm Fighting!"