They do indeed. And I think you will very much like some of the characters there! But I will try to keep my mouth shut so as not to spoil too much of it for you.
There is a good long solid arc of near-to-manga story. (The anime always gets toned down a bit...) Then there is a chunk of filler, which is amiable enough and has some good moments, but really doesn't match the original. Then it gets back into the regular storyline. (Kidnappings! Escape missions! "Let's all five of us split up into the five separate tunnels to investigate!")
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Man... I still remember splitting up the party, frequently, in the In Nomine game play... aiee...
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