Will characters not in my current party gain experience?

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I currently have one party member who is at the Inn, presumably quaffing ales, and not in my active 6 player team.
Will this character accrue any experience points whilst they are 'sidelined'? Or will I have to add them to my team and essentially seek out some easy experience to level them up to match the rest of my team?
Or, when I add them to my current team, will they receive a kind of bonus experience to bring them up to the right level?
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Do all party members get EXP Xenoblade?
They gain EXP outside of the party, but at a slower rate. (I think another commenter said 90%). However, Riki has a skill that allows you to gain regular exp if out of the party, if you link it. Inactive party members gain XP and even other things like skillpoints (don't know what they're called exactly).Is xp shared in kingdom hearts?
My Drama Teacher loves FF and KH as well. Anywho, Goofy is always a higher level than Sora and Goofy. XP is shared evenly between every party member in every world.Woodkid - Run Boy Run (Official HD Video)
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