I'm going to optimize/min-max my character and pawn this time. IIRC there are only two stats that really matter: strength for the physical classes (fighter, warrior, strider, ranger, and assassin) and magic for the magical classes (mystic knight, mage, sorcerer, magic archer). The assassin has the best strength growth rate making it the best class to level up as for playing the physical classes and the sorcerer has the best magic growth rate making it the best class to level as for playing the magic classes.
Pawns can't be hybrids so no Assassin which means they can't get the "best" strength growth rate so I'm making my pawn a sorcerer. IIRC the pawns are actually pretty decent in this game. I remember thinking they did a good job no matter what class they were as long as they had decent skills, knew the monsters they were fighting (so awesome how they pointed out weak spots I didn't know existed), and had good inclinations.
Seems like the best path to level is:
Main Character: Level 2 - 10 as a Fighter (you can only start as a fighter, mage, or strider - fighter wins because they have the best strength growth rate) -> Level 11 - 200 has an Assassin
Main Pawn: Level 2 - 10 as a Mage (same as above except the mage has the highest magic growth rate of the three) -> Level 11 - 200 as a Sorcerer.
Of course this is only for leveling. I will probably be changing what I play as for variety anyway and switch back to the Assassin/Sorcerer when I'm close to leveling up. Thankfully vocation levels aren't tied to character level so I can work on getting the other vocations leveled up to get some more skills.
I'm probably going to round out my team with a Ranger (loved these guys) and a mage (back up spells for the sorcerer and they only vocation with a healing spell).